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spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the laptop with silver keyboard open with the right arm.",
+    "Gently open the medium-sized laptop.",
+    "Lift the black and silver laptop slightly.",
+    "Lift and open the black and silver laptop.",
+    "Lift the matte laptop with smooth screen's lid using the right arm.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Lift the black laptop with reflective screen to open it up",
+    "Open the Toshiba laptop with folding design lifting with the right arm",
+    "Open the device with flat keyboard and screen entirely.",
+    "Fully open the the compact black and silver computer.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Gently lift the black laptop with reflective screen using the right arm",
+    "Use the right arm to open the compact black and silver computer",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Slide the black and silver laptop open with the right arm.",
+    "Raise the silver keyboard laptop's top section.",
+    "Lift the Toshiba laptop with folding design's lid upwards.",
+    "Pull the portable folding laptop's lid upward.",
+    "Raise the matte laptop with smooth screen using the right arm.",
+    "Carefully open the silver keyboard laptop using the right arm",
+    "Pull the screen of the matte laptop with smooth screen.",
+    "Lift the laptop with silver keyboard open with the right arm.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Open the rectangular laptop with Toshiba logo completely.",
+    "Lift the black and silver laptop to open.",
+    "Raise the Toshiba laptop with folding design using the right arm firmly.",
+    "Hold the Toshiba laptop with folding design steady, lift lid.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Push the folding laptop with screen and keyboard's lid upward using the right arm.",
+    "Gently raise the portable folding laptop using the right arm.",
+    "Raise the top of the matte laptop with smooth screen",
+    "Use the right arm to lift the matte laptop with smooth screen",
+    "Pull open the medium-sized laptop",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "Raise and open the compact black and silver computer.",
+    "Raise the device with flat keyboard and screen using the right arm.",
+    "Raise the lid of the device with flat keyboard and screen.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Raise the medium-sized laptop to expose the screen",
+    "Open the Toshiba laptop with folding design carefully with the right arm.",
+    "With the right arm, open the black and silver laptop's lid.",
+    "Raise the medium-sized laptop lid using the right arm.",
+    "Pull the lid of the rectangular laptop with Toshiba logo upward.",
+    "Gently open the black and silver laptop upward.",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Fully lift the rectangular laptop with Toshiba logo using the right arm.",
+    "Pull the matte laptop with smooth screen open with the right arm.",
+    "Gently open the silver keyboard laptop.",
+    "Lift the compact black and silver computer slightly.",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Lift the matte laptop with smooth screen to open it up",
+    "Open the black and silver laptop lifting with the right arm",
+    "Open the device with flat keyboard and screen entirely.",
+    "Fully open the the compact black and silver computer.",
+    "Grip and lift the silver keyboard laptop's lid.",
+    "Lift the silver keyboard laptop lid completely.",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Gently lift the device with flat keyboard and screen using the right arm",
+    "Use the right arm to open the portable folding laptop",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Slide the device with flat keyboard and screen open with the right arm.",
+    "Raise the black laptop with reflective screen's top section.",
+    "Lift the silver keyboard laptop's lid upwards.",
+    "Pull the portable folding laptop's lid upward.",
+    "Raise the folding laptop with screen and keyboard using the right arm.",
+    "Carefully open the laptop with silver keyboard using the right arm",
+    "Pull the screen of the device with flat keyboard and screen.",
+    "Lift the laptop with silver keyboard open with the right arm.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Open the Toshiba laptop with folding design completely.",
+    "Lift the laptop with silver keyboard to open.",
+    "Raise the portable folding laptop using the right arm firmly.",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Open the compact black and silver computer by lifting its lid.",
+    "Push the black laptop with reflective screen's lid upward using the right arm.",
+    "Gently raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Raise the top of the laptop with silver keyboard",
+    "Use the right arm to lift the compact black and silver computer",
+    "Pull open the folding laptop with screen and keyboard",
+    "Use the right arm to raise the portable folding laptop.",
+    "Pull up the lid of the portable folding laptop",
+    "Raise and open the portable folding laptop.",
+    "Raise the folding laptop with screen and keyboard using the right arm.",
+    "Raise the lid of the black laptop with reflective screen.",
+    "Pull the medium-sized laptop upward lightly.",
+    "Raise the matte laptop with smooth screen to expose the screen",
+    "Open the compact black and silver computer carefully with the right arm.",
+    "With the right arm, open the Toshiba laptop with folding design's lid.",
+    "Raise the rectangular laptop with Toshiba logo lid using the right arm.",
+    "Pull the lid of the medium-sized laptop upward.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Raise the medium-sized laptop lid with the right arm.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Fully lift the black and silver laptop using the right arm."
+  ],
+  "unseen": [
+    "Open the portable Toshiba laptop with one motion.",
+    "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",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Open the laptop computer carefully 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 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.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "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 portable Toshiba laptop's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "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.",
+    "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 computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with care",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Open the laptop computer carefully 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 using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen with care",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open 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",
+    "Open the portable Toshiba laptop with one motion.",
+    "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",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open 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",
+    "Open the computer with black screen with one motion.",
+    "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.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer with one motion.",
+    "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 portable Toshiba laptop and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the laptop computer using the right arm"
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Fully lift the silver keyboard laptop using the right arm.",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Lift the black and silver laptop to open.",
+    "Raise the portable folding laptop using the right arm.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Open the Toshiba laptop with folding design lifting with the right arm",
+    "Open the silver keyboard laptop by lifting its lid.",
+    "Raise the device with flat keyboard and screen lid with the right arm.",
+    "Slide the Toshiba laptop with folding design open with the right arm.",
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Pull the lid of the folding laptop with screen and keyboard upward.",
+    "Gently lift the folding laptop with screen and keyboard using the right arm",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Grip and lift the rectangular laptop with Toshiba logo's lid.",
+    "Pull the screen of the black and silver laptop.",
+    "Pull the portable folding laptop's lid upward.",
+    "Open the rectangular laptop with Toshiba logo carefully with the right arm.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Raise and open the laptop with silver keyboard.",
+    "With the right arm, open the folding laptop with screen and keyboard's lid.",
+    "Use the right arm to open the portable folding laptop.",
+    "Pull up the lid of the compact black and silver computer",
+    "Use the right arm to open the medium-sized laptop",
+    "Pull the black laptop with reflective screen open with the right arm.",
+    "Open the laptop with silver keyboard entirely.",
+    "Gently raise the laptop with silver keyboard using the right arm.",
+    "Lift the device with flat keyboard and screen slightly.",
+    "Lift and open the device with flat keyboard and screen.",
+    "Pull open the compact black and silver computer",
+    "Raise the top of the device with flat keyboard and screen",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Lift the device with flat keyboard and screen open with the right arm.",
+    "Carefully open the medium-sized laptop using the right arm",
+    "Use the right arm to lift the folding laptop with screen and keyboard",
+    "Lift the device with flat keyboard and screen to open it up",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Raise the rectangular laptop with Toshiba logo to expose the screen",
+    "Raise the laptop with silver keyboard using the right arm firmly.",
+    "Lift the matte laptop with smooth screen's lid using the right arm.",
+    "Gently open the silver keyboard laptop upward.",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Open the device with flat keyboard and screen completely.",
+    "Raise the lid of the laptop with silver keyboard.",
+    "Gently open the black and silver laptop.",
+    "Push the device with flat keyboard and screen's lid upward using the right arm.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Raise the rectangular laptop with Toshiba logo's top section.",
+    "Fully lift the black and silver laptop using the right arm.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Open the portable folding laptop lifting with the right arm",
+    "Open the rectangular laptop with Toshiba logo by lifting its lid.",
+    "Raise the portable folding laptop lid with the right arm.",
+    "Slide the rectangular laptop with Toshiba logo open with the right arm.",
+    "Fully open the the Toshiba laptop with folding design.",
+    "Use the right arm to open the portable folding laptop.",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "Lift the portable folding laptop's lid upwards.",
+    "Grip and lift the matte laptop with smooth screen's lid.",
+    "Pull the screen of the compact black and silver computer.",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Open the compact black and silver computer carefully with the right arm.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Raise and open the silver keyboard laptop.",
+    "With the right arm, open the matte laptop with smooth screen's lid.",
+    "Use the right arm to open the black and silver laptop.",
+    "Pull up the lid of the device with flat keyboard and screen",
+    "Use the right arm to open the black laptop with reflective screen",
+    "Pull the black laptop with reflective screen open with the right arm.",
+    "Open the black and silver laptop entirely.",
+    "Gently raise the matte laptop with smooth screen using the right arm.",
+    "Lift the compact black and silver computer slightly.",
+    "Lift and open the black and silver laptop.",
+    "Pull open the portable folding laptop",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Lift the black laptop with reflective screen open with the right arm.",
+    "Carefully open the black laptop with reflective screen using the right arm",
+    "Use the right arm to lift the portable folding laptop",
+    "Lift the portable folding laptop to open it up",
+    "Raise the black and silver laptop lid using the right arm.",
+    "Raise the black and silver laptop to expose the screen",
+    "Raise the device with flat keyboard and screen using the right arm firmly.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Gently open the compact black and silver computer upward.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Open the rectangular laptop with Toshiba logo completely.",
+    "Raise the lid of the silver keyboard laptop.",
+    "Gently open the matte laptop with smooth screen.",
+    "Push the matte laptop with smooth screen's lid upward using the right arm.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Raise the rectangular laptop with Toshiba logo's top section."
+  ],
+  "unseen": [
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop carefully 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",
+    "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.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen carefully 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",
+    "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.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer carefully 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",
+    "Lift the computer with black screen using the right arm",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "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's lid gently.",
+    "Open the laptop computer with care",
+    "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.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop carefully 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",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "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.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop carefully 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",
+    "Lift the computer with black screen using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop using the right arm."
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the lid of the matte laptop with smooth screen upward.",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Gently raise the portable folding laptop using the right arm.",
+    "Pull open the Toshiba laptop with folding design",
+    "Open the laptop with silver keyboard carefully with the right arm.",
+    "Raise the compact black and silver computer using the right arm firmly.",
+    "Hold the black laptop with reflective screen steady, lift lid.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Lift the rectangular laptop with Toshiba logo open with the right arm.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Raise the top of the portable folding laptop",
+    "Open the device with flat keyboard and screen entirely.",
+    "Lift the Toshiba laptop with folding design's lid upwards.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Use the right arm to open the compact black and silver computer",
+    "Lift the silver keyboard laptop lid completely.",
+    "Pull the matte laptop with smooth screen upward lightly.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Slide the portable folding laptop open with the right arm.",
+    "Fully lift the Toshiba laptop with folding design using the right arm.",
+    "Raise and open the portable folding laptop.",
+    "Raise the compact black and silver computer to expose the screen",
+    "Lift the medium-sized laptop slightly.",
+    "Use the right arm to lift the black and silver laptop",
+    "Open the Toshiba laptop with folding design completely.",
+    "Gently lift the folding laptop with screen and keyboard using the right arm",
+    "Pull the screen of the medium-sized laptop.",
+    "Pull the compact black and silver computer's lid upward.",
+    "Lift the silver keyboard laptop to open it up",
+    "With the right arm, open the black and silver laptop's lid.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Push the matte laptop with smooth screen's lid upward using the right arm.",
+    "Raise the lid of the folding laptop with screen and keyboard.",
+    "Raise the medium-sized laptop's top section.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Pull the silver keyboard laptop open with the right arm.",
+    "Use the right arm to open the black and silver laptop.",
+    "Gently open the silver keyboard laptop.",
+    "Raise the portable folding laptop using the right arm.",
+    "Open the silver keyboard laptop lifting with the right arm",
+    "Carefully open the device with flat keyboard and screen using the right arm",
+    "Pull up the lid of the black and silver laptop",
+    "Raise the black and silver laptop using the right arm.",
+    "Lift and open the matte laptop with smooth screen.",
+    "Fully open the the device with flat keyboard and screen.",
+    "Lift the rectangular laptop with Toshiba logo's lid using the right arm.",
+    "Raise the portable folding laptop lid with the right arm.",
+    "Gently open the matte laptop with smooth screen upward.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Gently raise the folding laptop with screen and keyboard using the right arm.",
+    "Pull open the black laptop with reflective screen",
+    "Open the black laptop with reflective screen carefully with the right arm.",
+    "Raise the portable folding laptop using the right arm firmly.",
+    "Hold the folding laptop with screen and keyboard steady, lift lid.",
+    "Lift the medium-sized laptop to open.",
+    "Lift the Toshiba laptop with folding design open with the right arm.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Raise the top of the laptop with silver keyboard",
+    "Open the folding laptop with screen and keyboard entirely.",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Open the compact black and silver computer by lifting its lid.",
+    "Use the right arm to open the device with flat keyboard and screen",
+    "Lift the compact black and silver computer lid completely.",
+    "Pull the compact black and silver computer upward lightly.",
+    "Grip and lift the compact black and silver computer's lid.",
+    "Slide the matte laptop with smooth screen open with the right arm.",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Raise and open the silver keyboard laptop.",
+    "Raise the device with flat keyboard and screen to expose the screen",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Use the right arm to lift the silver keyboard laptop",
+    "Open the rectangular laptop with Toshiba logo completely.",
+    "Gently lift the laptop with silver keyboard using the right arm",
+    "Pull the screen of the black laptop with reflective screen.",
+    "Pull the compact black and silver computer's lid upward.",
+    "Lift the portable folding laptop to open it up",
+    "With the right arm, open the Toshiba laptop with folding design's lid.",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Raise the rectangular laptop with Toshiba logo lid using the right arm.",
+    "Push the portable folding laptop's lid upward using the right arm.",
+    "Raise the lid of the compact black and silver computer.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Pull the black laptop with reflective screen open with the right arm.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Gently open the black laptop with reflective screen.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Open the black and silver laptop lifting with the right arm",
+    "Carefully open the silver keyboard laptop using the right arm",
+    "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 medium-sized laptop.",
+    "Fully open the the medium-sized laptop.",
+    "Lift the compact black and silver computer's lid using the right arm.",
+    "Raise the Toshiba laptop with folding design lid with the right arm.",
+    "Gently open the silver keyboard laptop upward.",
+    "Use the right arm to open the silver keyboard laptop."
+  ],
+  "unseen": [
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen with one motion.",
+    "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 portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer 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.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen with care",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "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.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen using the right arm.",
+    "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.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with one motion.",
+    "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.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "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.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the laptop computer using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "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.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid fully."
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Gently open the portable folding laptop.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Open the portable folding laptop carefully with the right arm.",
+    "Use the right arm to open the compact black and silver computer",
+    "Raise the portable folding laptop's top section.",
+    "Lift and open the silver keyboard laptop.",
+    "Pull up the lid of the matte laptop with smooth screen",
+    "Carefully open the compact black and silver computer using the right arm",
+    "Raise the matte laptop with smooth screen using the right arm.",
+    "Pull the screen of the portable folding laptop.",
+    "Raise the top of the device with flat keyboard and screen",
+    "Fully open the the device with flat keyboard and screen.",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Lift the rectangular laptop with Toshiba logo's lid using the right arm.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Lift the Toshiba laptop with folding design's lid upwards.",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Gently open the silver keyboard laptop upward.",
+    "Raise the lid of the compact black and silver computer.",
+    "Open the medium-sized laptop completely.",
+    "Raise the Toshiba laptop with folding design using the right arm firmly.",
+    "Gently lift the Toshiba laptop with folding design using the right arm",
+    "Pull open the laptop with silver keyboard",
+    "Open the black laptop with reflective screen entirely.",
+    "Slide the silver keyboard laptop open with the right arm.",
+    "Lift the matte laptop with smooth screen to open.",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Use the right arm to lift the laptop with silver keyboard",
+    "Lift the medium-sized laptop open with the right arm.",
+    "Raise and open the compact black and silver computer.",
+    "Open the medium-sized laptop lifting with the right arm",
+    "Pull the black laptop with reflective screen upward lightly.",
+    "Hold the device with flat keyboard and screen steady, lift lid.",
+    "Use the right arm to open the portable folding laptop.",
+    "Pull the rectangular laptop with Toshiba logo open with the right arm.",
+    "Push the matte laptop with smooth screen's lid upward using the right arm.",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Grip and lift the compact black and silver computer's lid.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Pull the folding laptop with screen and keyboard's lid upward.",
+    "Raise the compact black and silver computer to expose the screen",
+    "Gently raise the black and silver laptop using the right arm.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Raise the rectangular laptop with Toshiba logo lid using the right arm.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "With the right arm, open the compact black and silver computer's lid.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Gently open the medium-sized laptop.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Open the silver keyboard laptop carefully with the right arm.",
+    "Use the right arm to open the medium-sized laptop",
+    "Raise the device with flat keyboard and screen's top section.",
+    "Lift and open the black and silver laptop.",
+    "Pull up the lid of the matte laptop with smooth screen",
+    "Carefully open the laptop with silver keyboard using the right arm",
+    "Raise the black and silver laptop using the right arm.",
+    "Pull the screen of the black laptop with reflective screen.",
+    "Raise the top of the compact black and silver computer",
+    "Fully open the the matte laptop with smooth screen.",
+    "Raise the silver keyboard laptop lid with the right arm.",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Lift the matte laptop with smooth screen's lid using the right arm.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Gently open the black and silver laptop upward.",
+    "Raise the lid of the compact black and silver computer.",
+    "Open the compact black and silver computer completely.",
+    "Raise the medium-sized laptop using the right arm firmly.",
+    "Gently lift the portable folding laptop using the right arm",
+    "Pull open the black and silver laptop",
+    "Open the laptop with silver keyboard entirely.",
+    "Slide the black laptop with reflective screen open with the right arm.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Lift the laptop with silver keyboard to open it up",
+    "Use the right arm to lift the black and silver laptop",
+    "Lift the rectangular laptop with Toshiba logo open with the right arm.",
+    "Raise and open the matte laptop with smooth screen.",
+    "Open the silver keyboard laptop lifting with the right arm",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Pull the silver keyboard laptop open with the right arm.",
+    "Push the medium-sized laptop's lid upward using the right arm.",
+    "Fully lift the compact black and silver computer using the right arm.",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Lift the rectangular laptop with Toshiba logo lid completely.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Raise the portable folding laptop to expose the screen",
+    "Gently raise the compact black and silver computer using the right arm.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Raise the rectangular laptop with Toshiba logo lid using the right arm.",
+    "Use the right arm to open the portable folding laptop.",
+    "With the right arm, open the folding laptop with screen and keyboard's lid."
+  ],
+  "unseen": [
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the laptop computer's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "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 portable Toshiba laptop using the right arm",
+    "Open the laptop computer with care",
+    "Pull up the computer with black screen's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open 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.",
+    "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 portable Toshiba laptop using the right arm",
+    "Open the computer with black screen with care",
+    "Pull up the laptop computer's lid.",
+    "Grab the laptop computer and open it.",
+    "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.",
+    "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 portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the laptop computer's lid.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "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 using the right arm",
+    "Open the computer with black screen with care",
+    "Pull up the computer with black screen's lid.",
+    "Grab the computer with black screen and open it.",
+    "Open 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.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer with care",
+    "Pull up the computer with black screen's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "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 using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the computer with black screen's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open 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.",
+    "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 laptop computer using the right arm",
+    "Open the computer with black screen with care",
+    "Pull up the laptop computer's lid.",
+    "Grab the computer with black screen and open it.",
+    "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.",
+    "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 computer with black screen using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the computer with black screen's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open 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.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm."
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the Toshiba laptop with folding design slightly.",
+    "Pull the lid of the rectangular laptop with Toshiba logo upward.",
+    "Pull open the black and silver laptop",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Raise the Toshiba laptop with folding design lid using the left arm.",
+    "Raise the top of the matte laptop with smooth screen",
+    "Pull the screen of the black laptop with reflective screen.",
+    "Slide the portable folding laptop open with the left arm.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Raise and open the laptop with silver keyboard.",
+    "Pull the medium-sized laptop open with the left arm.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Use the left arm to open the silver keyboard laptop.",
+    "Lift the device with flat keyboard and screen to open it up",
+    "Pull the compact black and silver computer upward lightly.",
+    "Open the matte laptop with smooth screen completely.",
+    "Fully open the the rectangular laptop with Toshiba logo.",
+    "Gently open the rectangular laptop with Toshiba logo upward.",
+    "With the left arm, open the laptop with silver keyboard's lid.",
+    "Raise the black laptop with reflective screen using the left arm.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Raise the silver keyboard laptop using the left arm firmly.",
+    "Lift the compact black and silver computer lid completely.",
+    "Push the portable folding laptop's lid upward using the left arm.",
+    "Pull the medium-sized laptop's lid upward.",
+    "Use the left arm to open the portable folding laptop",
+    "Raise the compact black and silver computer lid with the left arm.",
+    "Raise the lid of the silver keyboard laptop.",
+    "Gently open the medium-sized laptop.",
+    "Lift the medium-sized laptop's lid using the left arm.",
+    "Raise the folding laptop with screen and keyboard to expose the screen",
+    "Gently lift the laptop with silver keyboard using the left arm",
+    "Lift the silver keyboard laptop's lid upwards.",
+    "Open the portable folding laptop carefully with the left arm.",
+    "Use the left arm to raise the matte laptop with smooth screen.",
+    "Raise the compact black and silver computer using the left arm.",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Gently raise the laptop with silver keyboard using the left arm.",
+    "Open the silver keyboard laptop lifting with the left arm",
+    "Open the Toshiba laptop with folding design entirely.",
+    "Grip and lift the device with flat keyboard and screen's lid.",
+    "Lift the matte laptop with smooth screen open with the left arm.",
+    "Fully lift the portable folding laptop using the left arm.",
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Use the left arm to raise the compact black and silver computer.",
+    "Lift and open the Toshiba laptop with folding design.",
+    "Pull up the lid of the silver keyboard laptop",
+    "Carefully open the portable folding laptop using the left arm",
+    "Use the left arm to lift the Toshiba laptop with folding design",
+    "Lift the portable folding laptop slightly.",
+    "Pull the lid of the matte laptop with smooth screen upward.",
+    "Pull open the portable folding laptop",
+    "Hold the black laptop with reflective screen steady, lift lid.",
+    "Raise the rectangular laptop with Toshiba logo lid using the left arm.",
+    "Raise the top of the medium-sized laptop",
+    "Pull the screen of the black laptop with reflective screen.",
+    "Slide the device with flat keyboard and screen open with the left arm.",
+    "Use the left arm to open the black and silver laptop.",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Pull the folding laptop with screen and keyboard open with the left arm.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Use the left arm to open the medium-sized laptop.",
+    "Lift the portable folding laptop to open it up",
+    "Pull the black and silver laptop upward lightly.",
+    "Open the laptop with silver keyboard completely.",
+    "Fully open the the compact black and silver computer.",
+    "Gently open the portable folding laptop upward.",
+    "With the left arm, open the black laptop with reflective screen's lid.",
+    "Raise the device with flat keyboard and screen using the left arm.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "Raise the black laptop with reflective screen using the left arm firmly.",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Push the portable folding laptop's lid upward using the left arm.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Use the left arm to open the device with flat keyboard and screen",
+    "Raise the compact black and silver computer lid with the left arm.",
+    "Raise the lid of the silver keyboard laptop.",
+    "Gently open the medium-sized laptop.",
+    "Lift the black laptop with reflective screen's lid using the left arm.",
+    "Raise the matte laptop with smooth screen to expose the screen",
+    "Gently lift the medium-sized laptop using the left arm",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Open the folding laptop with screen and keyboard carefully with the left arm.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Raise the medium-sized laptop using the left arm.",
+    "Use the left arm to open the portable folding laptop.",
+    "Gently raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Open the matte laptop with smooth screen lifting with the left arm",
+    "Open the laptop with silver keyboard entirely.",
+    "Grip and lift the compact black and silver computer's lid.",
+    "Lift the black laptop with reflective screen open with the left arm.",
+    "Fully lift the silver keyboard laptop using the left arm.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Lift the matte laptop with smooth screen to open.",
+    "Use the left arm to raise the black laptop with reflective screen.",
+    "Lift and open the device with flat keyboard and screen.",
+    "Pull up the lid of the black laptop with reflective screen",
+    "Carefully open the device with flat keyboard and screen using the left arm",
+    "Use the left arm to lift the compact black and silver computer"
+  ],
+  "unseen": [
+    "Open the computer with black screen with care",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer with one motion.",
+    "Open the computer with black screen using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer using the left arm"
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the laptop with silver keyboard to open.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Lift the medium-sized laptop to open it up",
+    "Open the silver keyboard laptop carefully with the left arm.",
+    "Pull the Toshiba laptop with folding design's lid upward.",
+    "Lift the matte laptop with smooth screen's lid upwards.",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Lift the silver keyboard laptop lid completely.",
+    "Pull open the portable folding laptop",
+    "Open the black and silver laptop by lifting its lid.",
+    "Use the left arm to open the portable folding laptop",
+    "Carefully open the silver keyboard laptop using the left arm",
+    "Raise the lid of the portable folding laptop.",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Fully lift the silver keyboard laptop using the left arm.",
+    "Lift the portable folding laptop open with the left arm.",
+    "Slide the folding laptop with screen and keyboard open with the left arm.",
+    "Pull up the lid of the compact black and silver computer",
+    "Use the left arm to lift the rectangular laptop with Toshiba logo",
+    "Lift the silver keyboard laptop slightly.",
+    "Raise the Toshiba laptop with folding design lid with the left arm.",
+    "Raise the matte laptop with smooth screen using the left arm.",
+    "Use the left arm to open the black laptop with reflective screen.",
+    "Open the black and silver laptop lifting with the left arm",
+    "Raise the top of the silver keyboard laptop",
+    "Grip and lift the device with flat keyboard and screen's lid.",
+    "Use the left arm to raise the silver keyboard laptop.",
+    "Open the laptop with silver keyboard completely.",
+    "Gently open the rectangular laptop with Toshiba logo.",
+    "Raise the silver keyboard laptop using the left arm firmly.",
+    "Pull the silver keyboard laptop upward lightly.",
+    "Lift and open the Toshiba laptop with folding design.",
+    "Use the left arm to raise the portable folding laptop.",
+    "Use the left arm to open the black and silver laptop.",
+    "Use the left arm to raise the medium-sized laptop.",
+    "With the left arm, open the portable folding laptop's lid.",
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Gently raise the black laptop with reflective screen using the left arm.",
+    "Pull the black laptop with reflective screen open with the left arm.",
+    "Raise the Toshiba laptop with folding design lid using the left arm.",
+    "Raise and open the black laptop with reflective screen.",
+    "Use the left arm to open the Toshiba laptop with folding design.",
+    "Open the silver keyboard laptop entirely.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Gently lift the compact black and silver computer using the left arm",
+    "Pull the screen of the medium-sized laptop.",
+    "Pull the lid of the Toshiba laptop with folding design upward.",
+    "Push the device with flat keyboard and screen's lid upward using the left arm.",
+    "Lift the device with flat keyboard and screen's lid using the left arm.",
+    "Raise the portable folding laptop to expose the screen",
+    "Lift the laptop with silver keyboard to open.",
+    "Gently open the black and silver laptop upward.",
+    "Lift the rectangular laptop with Toshiba logo to open it up",
+    "Open the device with flat keyboard and screen carefully with the left arm.",
+    "Pull the compact black and silver computer's lid upward.",
+    "Lift the rectangular laptop with Toshiba logo's lid upwards.",
+    "Raise the device with flat keyboard and screen using the left arm.",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Pull open the black laptop with reflective screen",
+    "Open the Toshiba laptop with folding design by lifting its lid.",
+    "Use the left arm to open the portable folding laptop",
+    "Carefully open the silver keyboard laptop using the left arm",
+    "Raise the lid of the Toshiba laptop with folding design.",
+    "Hold the folding laptop with screen and keyboard steady, lift lid.",
+    "Fully lift the medium-sized laptop using the left arm.",
+    "Lift the rectangular laptop with Toshiba logo open with the left arm.",
+    "Slide the rectangular laptop with Toshiba logo open with the left arm.",
+    "Pull up the lid of the Toshiba laptop with folding design",
+    "Use the left arm to lift the medium-sized laptop",
+    "Lift the laptop with silver keyboard slightly.",
+    "Raise the folding laptop with screen and keyboard lid with the left arm.",
+    "Raise the matte laptop with smooth screen using the left arm.",
+    "Use the left arm to open the compact black and silver computer.",
+    "Open the portable folding laptop lifting with the left arm",
+    "Raise the top of the black laptop with reflective screen",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Use the left arm to raise the Toshiba laptop with folding design.",
+    "Open the silver keyboard laptop completely.",
+    "Gently open the compact black and silver computer.",
+    "Raise the laptop with silver keyboard using the left arm firmly.",
+    "Pull the portable folding laptop upward lightly.",
+    "Lift and open the black and silver laptop.",
+    "Use the left arm to raise the black laptop with reflective screen.",
+    "Use the left arm to open the black laptop with reflective screen.",
+    "Use the left arm to raise the device with flat keyboard and screen.",
+    "With the left arm, open the Toshiba laptop with folding design's lid.",
+    "Fully open the the device with flat keyboard and screen.",
+    "Gently raise the laptop with silver keyboard using the left arm.",
+    "Pull the compact black and silver computer open with the left arm.",
+    "Raise the medium-sized laptop lid using the left arm.",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Use the left arm to open the silver keyboard laptop.",
+    "Open the matte laptop with smooth screen entirely.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "Gently lift the laptop with silver keyboard using the left arm",
+    "Pull the screen of the device with flat keyboard and screen.",
+    "Pull the lid of the black laptop with reflective screen upward.",
+    "Push the silver keyboard laptop's lid upward using the left arm.",
+    "Lift the black and silver laptop's lid using the left arm.",
+    "Raise the silver keyboard laptop to expose the screen"
+  ],
+  "unseen": [
+    "Lift the computer with black screen using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the computer with black screen using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the left arm",
+    "Open the computer with black screen using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the left arm",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "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.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the left arm",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the left arm",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the left arm",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the left arm",
+    "Open the laptop computer using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the left arm",
+    "Open the computer with black screen using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer carefully using the left arm."
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the black laptop with reflective screen to open it up",
+    "Raise the black laptop with reflective screen to expose the screen",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "With the left arm, open the black and silver laptop's lid.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Pull the black and silver laptop's lid upward.",
+    "Grip and lift the black laptop with reflective screen's lid.",
+    "Raise the black and silver laptop using the left arm.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Pull open the silver keyboard laptop",
+    "Raise the compact black and silver computer using the left arm firmly.",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Gently open the black laptop with reflective screen.",
+    "Raise the lid of the black and silver laptop.",
+    "Raise the folding laptop with screen and keyboard lid using the left arm.",
+    "Carefully open the silver keyboard laptop using the left arm",
+    "Raise the black and silver laptop using the left arm.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Gently lift the black and silver laptop using the left arm",
+    "Open the medium-sized laptop completely.",
+    "Lift and open the rectangular laptop with Toshiba logo.",
+    "Fully lift the compact black and silver computer using the left arm.",
+    "Pull the screen of the folding laptop with screen and keyboard.",
+    "Raise and open the black laptop with reflective screen.",
+    "Gently raise the folding laptop with screen and keyboard using the left arm.",
+    "Lift the device with flat keyboard and screen slightly.",
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Use the left arm to raise the portable folding laptop.",
+    "Pull the device with flat keyboard and screen open with the left arm.",
+    "Open the medium-sized laptop carefully with the left arm.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Slide the matte laptop with smooth screen open with the left arm.",
+    "Use the left arm to lift the portable folding laptop",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Pull the lid of the matte laptop with smooth screen upward.",
+    "Raise the rectangular laptop with Toshiba logo lid with the left arm.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo",
+    "Raise the top of the black laptop with reflective screen",
+    "Open the silver keyboard laptop by lifting its lid.",
+    "Lift the portable folding laptop open with the left arm.",
+    "Lift the compact black and silver computer to open.",
+    "Lift the portable folding laptop's lid using the left arm.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo.",
+    "Open the black laptop with reflective screen lifting with the left arm",
+    "Use the left arm to open the compact black and silver computer.",
+    "Push the black laptop with reflective screen's lid upward using the left arm.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Hold the matte laptop with smooth screen steady, lift lid.",
+    "Lift the laptop with silver keyboard to open it up",
+    "Raise the compact black and silver computer to expose the screen",
+    "Pull up the lid of the matte laptop with smooth screen",
+    "With the left arm, open the rectangular laptop with Toshiba logo's lid.",
+    "Lift the Toshiba laptop with folding design's lid upwards.",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Raise the portable folding laptop using the left arm.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Pull open the portable folding laptop",
+    "Raise the folding laptop with screen and keyboard using the left arm firmly.",
+    "Open the matte laptop with smooth screen entirely.",
+    "Pull the laptop with silver keyboard upward lightly.",
+    "Gently open the silver keyboard laptop.",
+    "Raise the lid of the device with flat keyboard and screen.",
+    "Raise the medium-sized laptop lid using the left arm.",
+    "Carefully open the device with flat keyboard and screen using the left arm",
+    "Raise the portable folding laptop using the left arm.",
+    "Raise the black laptop with reflective screen's top section.",
+    "Gently lift the matte laptop with smooth screen using the left arm",
+    "Open the medium-sized laptop completely.",
+    "Lift and open the portable folding laptop.",
+    "Fully lift the laptop with silver keyboard using the left arm.",
+    "Pull the screen of the medium-sized laptop.",
+    "Raise and open the device with flat keyboard and screen.",
+    "Gently raise the portable folding laptop using the left arm.",
+    "Lift the black laptop with reflective screen slightly.",
+    "Fully open the the medium-sized laptop.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Pull the silver keyboard laptop open with the left arm.",
+    "Open the rectangular laptop with Toshiba logo carefully with the left arm.",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Slide the matte laptop with smooth screen open with the left arm.",
+    "Use the left arm to lift the portable folding laptop",
+    "Use the left arm to raise the device with flat keyboard and screen.",
+    "Pull the lid of the rectangular laptop with Toshiba logo upward.",
+    "Raise the folding laptop with screen and keyboard lid with the left arm.",
+    "Use the left arm to open the matte laptop with smooth screen",
+    "Raise the top of the medium-sized laptop",
+    "Open the medium-sized laptop by lifting its lid.",
+    "Lift the rectangular laptop with Toshiba logo open with the left arm.",
+    "Lift the black laptop with reflective screen to open.",
+    "Lift the compact black and silver computer's lid using the left arm.",
+    "Use the left arm to open the silver keyboard laptop.",
+    "Use the left arm to open the portable folding laptop.",
+    "Open the compact black and silver computer lifting with the left arm",
+    "Use the left arm to open the portable folding laptop.",
+    "Push the black and silver laptop's lid upward using the left arm.",
+    "Gently open the rectangular laptop with Toshiba logo upward.",
+    "Hold the black and silver laptop steady, lift lid."
+  ],
+  "unseen": [
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the computer with black screen using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the laptop computer using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the computer with black screen using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the laptop computer using the left arm.",
+    "Open the computer with black screen using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Lift the laptop computer using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the computer with black screen using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with care",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer's lid fully."
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the device with flat keyboard and screen steady, lift lid.",
+    "Pull the screen of the black laptop with reflective screen.",
+    "Gently open the medium-sized laptop.",
+    "Push the black and silver laptop's lid upward using the right arm.",
+    "Raise the black laptop with reflective screen lid using the right arm.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Raise the top of the device with flat keyboard and screen",
+    "Pull open the rectangular laptop with Toshiba logo",
+    "Gently raise the device with flat keyboard and screen using the right arm.",
+    "Fully lift the medium-sized laptop using the right arm.",
+    "Pull the silver keyboard laptop upward lightly.",
+    "Use the right arm to open the folding laptop with screen and keyboard",
+    "Use the right arm to open the black and silver laptop.",
+    "Lift the rectangular laptop with Toshiba logo to open it up",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Open the compact black and silver computer lifting with the right arm",
+    "With the right arm, open the device with flat keyboard and screen's lid.",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Fully open the the silver keyboard laptop.",
+    "Lift the rectangular laptop with Toshiba logo open with the right arm.",
+    "Pull the portable folding laptop open with the right arm.",
+    "Raise the folding laptop with screen and keyboard to expose the screen",
+    "Lift the device with flat keyboard and screen to open.",
+    "Raise the matte laptop with smooth screen using the right arm firmly.",
+    "Pull the lid of the portable folding laptop upward.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Raise the portable folding laptop lid with the right arm.",
+    "Raise the folding laptop with screen and keyboard using the right arm.",
+    "Carefully open the black laptop with reflective screen using the right arm",
+    "Lift the matte laptop with smooth screen slightly.",
+    "Use the right arm to lift the Toshiba laptop with folding design",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Gently open the medium-sized laptop upward.",
+    "Lift the black laptop with reflective screen lid completely.",
+    "Lift and open the black laptop with reflective screen.",
+    "Gently lift the Toshiba laptop with folding design using the right arm",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Slide the device with flat keyboard and screen open with the right arm.",
+    "Open the Toshiba laptop with folding design entirely.",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Raise the lid of the rectangular laptop with Toshiba logo.",
+    "Raise the silver keyboard laptop's top section.",
+    "Pull up the lid of the medium-sized laptop",
+    "Pull the silver keyboard laptop's lid upward.",
+    "Lift the compact black and silver computer's lid upwards.",
+    "Open the silver keyboard laptop carefully with the right arm.",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Pull the screen of the medium-sized laptop.",
+    "Gently open the portable folding laptop.",
+    "Push the compact black and silver computer's lid upward using the right arm.",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Raise the top of the portable folding laptop",
+    "Pull open the matte laptop with smooth screen",
+    "Gently raise the compact black and silver computer using the right arm.",
+    "Fully lift the silver keyboard laptop using the right arm.",
+    "Pull the black and silver laptop upward lightly.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo",
+    "Use the right arm to open the black and silver laptop.",
+    "Lift the device with flat keyboard and screen to open it up",
+    "Open the medium-sized laptop completely.",
+    "Open the black and silver laptop lifting with the right arm",
+    "With the right arm, open the laptop with silver keyboard's lid.",
+    "Raise and open the portable folding laptop.",
+    "Fully open the the portable folding laptop.",
+    "Lift the device with flat keyboard and screen open with the right arm.",
+    "Pull the black laptop with reflective screen open with the right arm.",
+    "Raise the silver keyboard laptop to expose the screen",
+    "Lift the compact black and silver computer to open.",
+    "Raise the laptop with silver keyboard using the right arm firmly.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Raise the silver keyboard laptop lid with the right arm.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Carefully open the portable folding laptop using the right arm",
+    "Lift the device with flat keyboard and screen slightly.",
+    "Use the right arm to lift the silver keyboard laptop",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Lift the matte laptop with smooth screen lid completely.",
+    "Lift and open the portable folding laptop.",
+    "Gently lift the medium-sized laptop using the right arm",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Slide the compact black and silver computer open with the right arm.",
+    "Open the matte laptop with smooth screen entirely.",
+    "Grip and lift the black and silver laptop's lid.",
+    "Raise the lid of the Toshiba laptop with folding design.",
+    "Raise the silver keyboard laptop's top section.",
+    "Pull up the lid of the black and silver laptop",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Lift the black and silver laptop's lid upwards.",
+    "Open the rectangular laptop with Toshiba logo carefully with the right arm."
+  ],
+  "unseen": [
+    "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 portable Toshiba laptop using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open 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.",
+    "Lift the portable Toshiba laptop 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",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the portable Toshiba laptop 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",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer's lid gently.",
+    "Open 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.",
+    "Lift the laptop computer 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",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid gently.",
+    "Open 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.",
+    "Lift the laptop computer 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",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer 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 using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid gently.",
+    "Open 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.",
+    "Lift the laptop computer 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",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer's lid gently.",
+    "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 portable Toshiba laptop 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",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Lift the laptop computer 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",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Pull up the laptop computer'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.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer carefully using the right arm."
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the portable folding laptop completely.",
+    "Pull up the lid of the matte laptop with smooth screen",
+    "Use the left arm to raise the portable folding laptop.",
+    "Hold the folding laptop with screen and keyboard steady, lift lid.",
+    "Raise the laptop with silver keyboard lid using the left arm.",
+    "Raise and open the black and silver laptop.",
+    "Use the left arm to open the matte laptop with smooth screen.",
+    "Raise the Toshiba laptop with folding design using the left arm firmly.",
+    "Gently lift the rectangular laptop with Toshiba logo using the left arm",
+    "Lift the portable folding laptop to open it up",
+    "Open the portable folding laptop by lifting its lid.",
+    "With the left arm, open the black laptop with reflective screen's lid.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Open the rectangular laptop with Toshiba logo carefully with the left arm.",
+    "Lift and open the device with flat keyboard and screen.",
+    "Use the left arm to open the portable folding laptop",
+    "Lift the Toshiba laptop with folding design slightly.",
+    "Fully open the the black and silver laptop.",
+    "Lift the device with flat keyboard and screen open with the left arm.",
+    "Pull open the medium-sized laptop",
+    "Pull the rectangular laptop with Toshiba logo upward lightly.",
+    "Lift the compact black and silver computer to open.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Open the device with flat keyboard and screen lifting with the left arm",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Raise the compact black and silver computer to expose the screen",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Raise the medium-sized laptop lid with the left arm.",
+    "Use the left arm to open the medium-sized laptop.",
+    "Raise the lid of the matte laptop with smooth screen.",
+    "Open the silver keyboard laptop entirely.",
+    "Push the medium-sized laptop's lid upward using the left arm.",
+    "Lift the portable folding laptop's lid using the left arm.",
+    "Raise the compact black and silver computer using the left arm.",
+    "Pull the screen of the black and silver laptop.",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Slide the black laptop with reflective screen open with the left arm.",
+    "Gently open the medium-sized laptop.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Raise the silver keyboard laptop using the left arm.",
+    "Lift the compact black and silver computer's lid upwards.",
+    "Use the left arm to lift the folding laptop with screen and keyboard",
+    "Gently raise the medium-sized laptop using the left arm.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Pull the silver keyboard laptop open with the left arm.",
+    "Carefully open the matte laptop with smooth screen using the left arm",
+    "Fully lift the medium-sized laptop using the left arm.",
+    "Open the portable folding laptop completely.",
+    "Pull up the lid of the matte laptop with smooth screen",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Hold the device with flat keyboard and screen steady, lift lid.",
+    "Raise the medium-sized laptop lid using the left arm.",
+    "Raise and open the device with flat keyboard and screen.",
+    "Use the left arm to open the matte laptop with smooth screen.",
+    "Raise the medium-sized laptop using the left arm firmly.",
+    "Gently lift the laptop with silver keyboard using the left arm",
+    "Lift the compact black and silver computer to open it up",
+    "Open the portable folding laptop by lifting its lid.",
+    "With the left arm, open the rectangular laptop with Toshiba logo's lid.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Open the matte laptop with smooth screen carefully with the left arm.",
+    "Lift and open the silver keyboard laptop.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo",
+    "Lift the black and silver laptop slightly.",
+    "Fully open the the portable folding laptop.",
+    "Lift the rectangular laptop with Toshiba logo open with the left arm.",
+    "Pull open the portable folding laptop",
+    "Pull the portable folding laptop upward lightly.",
+    "Lift the portable folding laptop to open.",
+    "Raise the top of the black laptop with reflective screen",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Grip and lift the portable folding laptop's lid.",
+    "Open the folding laptop with screen and keyboard lifting with the left arm",
+    "Raise the compact black and silver computer's top section.",
+    "Raise the Toshiba laptop with folding design to expose the screen",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Raise the folding laptop with screen and keyboard lid with the left arm.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo.",
+    "Raise the lid of the portable folding laptop.",
+    "Open the folding laptop with screen and keyboard entirely.",
+    "Push the matte laptop with smooth screen's lid upward using the left arm.",
+    "Lift the laptop with silver keyboard's lid using the left arm.",
+    "Raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Pull the screen of the matte laptop with smooth screen.",
+    "Use the left arm to open the black laptop with reflective screen.",
+    "Slide the silver keyboard laptop open with the left arm.",
+    "Gently open the black and silver laptop.",
+    "Pull the lid of the portable folding laptop upward.",
+    "Raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Lift the compact black and silver computer's lid upwards.",
+    "Use the left arm to lift the medium-sized laptop",
+    "Gently raise the black and silver laptop using the left arm.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Pull the silver keyboard laptop open with the left arm.",
+    "Carefully open the Toshiba laptop with folding design using the left arm",
+    "Fully lift the Toshiba laptop with folding design using the left arm."
+  ],
+  "unseen": [
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen using the left arm",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the left arm",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the portable Toshiba laptop using the left 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 laptop computer using the left arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the portable Toshiba laptop using the left 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 care",
+    "Lift the laptop computer using the left arm",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Open the computer with black screen using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop using the left 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.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen using the left arm",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the laptop computer using the left arm",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the laptop computer using the left 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 using the left arm",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the laptop computer using the left 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 laptop computer using the left arm",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the computer with black screen using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the portable Toshiba laptop using the left arm."
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the black and silver laptop lid with the left arm.",
+    "Gently open the compact black and silver computer upward.",
+    "Pull the black laptop with reflective screen upward lightly.",
+    "Raise the top of the black laptop with reflective screen",
+    "Raise the portable folding laptop using the left arm.",
+    "Gently raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Use the left arm to open the black and silver laptop.",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Fully open the the matte laptop with smooth screen.",
+    "Fully lift the medium-sized laptop using the left arm.",
+    "Lift the Toshiba laptop with folding design open with the left arm.",
+    "Lift the device with flat keyboard and screen slightly.",
+    "Raise the portable folding laptop using the left arm.",
+    "Raise and open the rectangular laptop with Toshiba logo.",
+    "Carefully open the portable folding laptop using the left arm",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Grip and lift the silver keyboard laptop's lid.",
+    "Pull the compact black and silver computer open with the left arm.",
+    "Use the left arm to lift the black and silver laptop",
+    "Lift the black and silver laptop's lid upwards.",
+    "Open the black and silver laptop carefully with the left arm.",
+    "Lift the device with flat keyboard and screen's lid using the left arm.",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Pull up the lid of the black and silver laptop",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "Gently lift the medium-sized laptop using the left arm",
+    "Use the left arm to open the compact black and silver computer.",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "With the left arm, open the portable folding laptop's lid.",
+    "Pull open the device with flat keyboard and screen",
+    "Raise the folding laptop with screen and keyboard's top section.",
+    "Open the folding laptop with screen and keyboard entirely.",
+    "Raise the silver keyboard laptop lid using the left arm.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Gently open the black laptop with reflective screen.",
+    "Open the Toshiba laptop with folding design lifting with the left arm",
+    "Use the left arm to open the folding laptop with screen and keyboard",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Raise the rectangular laptop with Toshiba logo using the left arm firmly.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Raise the rectangular laptop with Toshiba logo to expose the screen",
+    "Slide the device with flat keyboard and screen open with the left arm.",
+    "Use the left arm to open the black and silver laptop.",
+    "Raise the lid of the device with flat keyboard and screen.",
+    "Pull the screen of the medium-sized laptop.",
+    "Push the device with flat keyboard and screen's lid upward using the left arm.",
+    "Open the medium-sized laptop completely.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Raise the laptop with silver keyboard lid with the left arm.",
+    "Gently open the compact black and silver computer upward.",
+    "Pull the compact black and silver computer upward lightly.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Gently raise the black laptop with reflective screen using the left arm.",
+    "Use the left arm to open the portable folding laptop.",
+    "Lift the laptop with silver keyboard to open.",
+    "Lift the laptop with silver keyboard lid completely.",
+    "Fully open the the medium-sized laptop.",
+    "Fully lift the Toshiba laptop with folding design using the left arm.",
+    "Lift the laptop with silver keyboard open with the left arm.",
+    "Lift the portable folding laptop slightly.",
+    "Raise the medium-sized laptop using the left arm.",
+    "Raise and open the medium-sized laptop.",
+    "Carefully open the device with flat keyboard and screen using the left arm",
+    "Pull the compact black and silver computer's lid upward.",
+    "Grip and lift the silver keyboard laptop's lid.",
+    "Pull the Toshiba laptop with folding design open with the left arm.",
+    "Use the left arm to lift the device with flat keyboard and screen",
+    "Lift the rectangular laptop with Toshiba logo's lid upwards.",
+    "Open the device with flat keyboard and screen carefully with the left arm.",
+    "Lift the black and silver laptop's lid using the left arm.",
+    "Lift the black laptop with reflective screen to open it up",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Lift and open the black and silver laptop.",
+    "Gently lift the portable folding laptop using the left arm",
+    "Use the left arm to open the device with flat keyboard and screen.",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "With the left arm, open the compact black and silver computer's lid.",
+    "Pull open the medium-sized laptop",
+    "Raise the portable folding laptop's top section.",
+    "Open the medium-sized laptop entirely.",
+    "Raise the black laptop with reflective screen lid using the left arm.",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Gently open the black laptop with reflective screen.",
+    "Open the device with flat keyboard and screen lifting with the left arm",
+    "Use the left arm to open the black and silver laptop",
+    "Open the medium-sized laptop by lifting its lid.",
+    "Raise the Toshiba laptop with folding design using the left arm firmly.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Use the left arm to raise the medium-sized laptop.",
+    "Raise the matte laptop with smooth screen to expose the screen",
+    "Slide the black and silver laptop open with the left arm.",
+    "Use the left arm to open the compact black and silver computer.",
+    "Raise the lid of the rectangular laptop with Toshiba logo.",
+    "Pull the screen of the black and silver laptop.",
+    "Push the portable folding laptop's lid upward using the left arm.",
+    "Open the compact black and silver computer completely.",
+    "Hold the folding laptop with screen and keyboard steady, lift lid."
+  ],
+  "unseen": [
+    "Open the laptop computer with care",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the computer with black screen with care",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer using the left arm.",
+    "Open the computer with black screen using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the laptop computer with care",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen carefully using the left arm.",
+    "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 left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer with care",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the portable Toshiba laptop with care",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Lift the computer with black screen using the left arm"
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Fully lift the silver keyboard laptop using the left arm.",
+    "Raise the medium-sized laptop lid using the left arm.",
+    "Open the black and silver laptop lifting with the left arm",
+    "Gently raise the black laptop with reflective screen using the left arm.",
+    "Raise the lid of the black and silver laptop.",
+    "Open the matte laptop with smooth screen by lifting its lid.",
+    "Lift the rectangular laptop with Toshiba logo open with the left arm.",
+    "Pull the folding laptop with screen and keyboard's lid upward.",
+    "Raise the medium-sized laptop's top section.",
+    "Pull open the laptop with silver keyboard",
+    "Pull the medium-sized laptop open with the left arm.",
+    "Lift the portable folding laptop slightly.",
+    "Gently open the portable folding laptop.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Open the laptop with silver keyboard completely.",
+    "Lift the black and silver laptop to open it up",
+    "Lift and open the black laptop with reflective screen.",
+    "Raise the top of the rectangular laptop with Toshiba logo",
+    "Use the left arm to raise the Toshiba laptop with folding design.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Hold the matte laptop with smooth screen steady, lift lid.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Use the left arm to lift the folding laptop with screen and keyboard",
+    "Raise the device with flat keyboard and screen using the left arm.",
+    "Gently lift the portable folding laptop using the left arm",
+    "Slide the black and silver laptop open with the left arm.",
+    "Use the left arm to open the matte laptop with smooth screen",
+    "Raise the silver keyboard laptop to expose the screen",
+    "Raise the portable folding laptop lid with the left arm.",
+    "With the left arm, open the compact black and silver computer's lid.",
+    "Grip and lift the folding laptop with screen and keyboard's lid.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo.",
+    "Lift the black and silver laptop's lid upwards.",
+    "Fully open the the device with flat keyboard and screen.",
+    "Open the rectangular laptop with Toshiba logo carefully with the left arm.",
+    "Lift the rectangular laptop with Toshiba logo to open.",
+    "Push the rectangular laptop with Toshiba logo's lid upward using the left arm.",
+    "Open the black and silver laptop entirely.",
+    "Pull up the lid of the silver keyboard laptop",
+    "Use the left arm to open the Toshiba laptop with folding design.",
+    "Raise and open the portable folding laptop.",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Raise the black and silver laptop using the left arm firmly.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo.",
+    "Pull the screen of the device with flat keyboard and screen.",
+    "Carefully open the rectangular laptop with Toshiba logo using the left arm",
+    "Pull the rectangular laptop with Toshiba logo upward lightly.",
+    "Lift the matte laptop with smooth screen lid completely.",
+    "Lift the matte laptop with smooth screen's lid using the left arm.",
+    "Pull the lid of the Toshiba laptop with folding design upward.",
+    "Fully lift the rectangular laptop with Toshiba logo using the left arm.",
+    "Raise the black laptop with reflective screen lid using the left arm.",
+    "Open the Toshiba laptop with folding design lifting with the left arm",
+    "Gently raise the matte laptop with smooth screen using the left arm.",
+    "Raise the lid of the folding laptop with screen and keyboard.",
+    "Open the compact black and silver computer by lifting its lid.",
+    "Lift the laptop with silver keyboard open with the left arm.",
+    "Pull the medium-sized laptop's lid upward.",
+    "Raise the black and silver laptop's top section.",
+    "Pull open the Toshiba laptop with folding design",
+    "Pull the black laptop with reflective screen open with the left arm.",
+    "Lift the black laptop with reflective screen slightly.",
+    "Gently open the portable folding laptop.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Open the Toshiba laptop with folding design completely.",
+    "Lift the compact black and silver computer to open it up",
+    "Lift and open the laptop with silver keyboard.",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Use the left arm to raise the portable folding laptop.",
+    "Use the left arm to raise the medium-sized laptop.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Use the left arm to raise the silver keyboard laptop.",
+    "Use the left arm to lift the rectangular laptop with Toshiba logo",
+    "Raise the compact black and silver computer using the left arm.",
+    "Gently lift the matte laptop with smooth screen using the left arm",
+    "Slide the black and silver laptop open with the left arm.",
+    "Use the left arm to open the black laptop with reflective screen",
+    "Raise the laptop with silver keyboard to expose the screen",
+    "Raise the rectangular laptop with Toshiba logo lid with the left arm.",
+    "With the left arm, open the portable folding laptop's lid.",
+    "Grip and lift the Toshiba laptop with folding design's lid.",
+    "Use the left arm to open the matte laptop with smooth screen.",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Fully open the the compact black and silver computer.",
+    "Open the Toshiba laptop with folding design carefully with the left arm.",
+    "Lift the black laptop with reflective screen to open.",
+    "Push the silver keyboard laptop's lid upward using the left arm.",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Pull up the lid of the silver keyboard laptop",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Raise and open the compact black and silver computer.",
+    "Raise the portable folding laptop using the left arm.",
+    "Raise the Toshiba laptop with folding design using the left arm firmly.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo.",
+    "Pull the screen of the Toshiba laptop with folding design.",
+    "Carefully open the portable folding laptop using the left arm",
+    "Pull the portable folding laptop upward lightly.",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Lift the portable folding laptop's lid using the left arm.",
+    "Pull the lid of the black laptop with reflective screen upward."
+  ],
+  "unseen": [
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the left arm",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the left arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the left arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the left arm",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop using the left arm."
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the lid of the black laptop with reflective screen upward.",
+    "Raise the matte laptop with smooth screen using the right arm firmly.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Lift and open the laptop with silver keyboard.",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Fully open the the compact black and silver computer.",
+    "Push the device with flat keyboard and screen's lid upward using the right arm.",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Pull the compact black and silver computer open with the right arm.",
+    "Open the black and silver laptop completely.",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Lift the laptop with silver keyboard slightly.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Open the device with flat keyboard and screen lifting with the right arm",
+    "Raise the portable folding laptop's top section.",
+    "Raise the laptop with silver keyboard lid using the right arm.",
+    "Gently raise the folding laptop with screen and keyboard using the right arm.",
+    "Pull the Toshiba laptop with folding design's lid upward.",
+    "Lift the matte laptop with smooth screen to open.",
+    "Carefully open the black laptop with reflective screen using the right arm",
+    "Raise and open the black laptop with reflective screen.",
+    "Raise the device with flat keyboard and screen to expose the screen",
+    "Lift the device with flat keyboard and screen to open it up",
+    "Raise the top of the laptop with silver keyboard",
+    "Pull the screen of the Toshiba laptop with folding design.",
+    "Open the black laptop with reflective screen carefully with the right arm.",
+    "Raise the Toshiba laptop with folding design lid with the right arm.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Raise the lid of the black laptop with reflective screen.",
+    "Raise the medium-sized laptop using the right arm.",
+    "Pull the portable folding laptop upward lightly.",
+    "Lift the device with flat keyboard and screen open with the right arm.",
+    "Gently lift the rectangular laptop with Toshiba logo using the right arm",
+    "Pull open the Toshiba laptop with folding design",
+    "Fully lift the matte laptop with smooth screen using the right arm.",
+    "Pull up the lid of the black and silver laptop",
+    "Use the right arm to open the silver keyboard laptop",
+    "Lift the black and silver laptop lid completely.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Use the right arm to raise the black and silver laptop.",
+    "Gently open the laptop with silver keyboard upward.",
+    "Slide the device with flat keyboard and screen open with the right arm.",
+    "Gently open the folding laptop with screen and keyboard.",
+    "Lift the matte laptop with smooth screen's lid upwards.",
+    "With the right arm, open the medium-sized laptop's lid.",
+    "Raise the portable folding laptop using the right arm.",
+    "Use the right arm to lift the matte laptop with smooth screen",
+    "Pull the lid of the compact black and silver computer upward.",
+    "Raise the compact black and silver computer using the right arm firmly.",
+    "Open the portable folding laptop by lifting its lid.",
+    "Lift and open the medium-sized laptop.",
+    "Open the device with flat keyboard and screen entirely.",
+    "Fully open the the black and silver laptop.",
+    "Push the black laptop with reflective screen's lid upward using the right arm.",
+    "Grip and lift the matte laptop with smooth screen's lid.",
+    "Pull the rectangular laptop with Toshiba logo open with the right arm.",
+    "Open the rectangular laptop with Toshiba logo completely.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Lift the medium-sized laptop slightly.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Open the black laptop with reflective screen lifting with the right arm",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Raise the black laptop with reflective screen lid using the right arm.",
+    "Gently raise the laptop with silver keyboard using the right arm.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Carefully open the black laptop with reflective screen using the right arm",
+    "Raise and open the Toshiba laptop with folding design.",
+    "Raise the compact black and silver computer to expose the screen",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Raise the top of the rectangular laptop with Toshiba logo",
+    "Pull the screen of the medium-sized laptop.",
+    "Open the folding laptop with screen and keyboard carefully with the right arm.",
+    "Raise the black and silver laptop lid with the right arm.",
+    "Lift the compact black and silver computer's lid using the right arm.",
+    "Hold the medium-sized laptop steady, lift lid.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo.",
+    "Raise the lid of the black and silver laptop.",
+    "Raise the device with flat keyboard and screen using the right arm.",
+    "Pull the black laptop with reflective screen upward lightly.",
+    "Lift the black and silver laptop open with the right arm.",
+    "Gently lift the folding laptop with screen and keyboard using the right arm",
+    "Pull open the laptop with silver keyboard",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Use the right arm to open the matte laptop with smooth screen",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Use the right arm to open the portable folding laptop.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Gently open the medium-sized laptop upward.",
+    "Slide the black laptop with reflective screen open with the right arm.",
+    "Gently open the device with flat keyboard and screen.",
+    "Lift the portable folding laptop's lid upwards.",
+    "With the right arm, open the folding laptop with screen and keyboard's lid.",
+    "Raise the portable folding laptop using the right arm.",
+    "Use the right arm to lift the rectangular laptop with Toshiba logo"
+  ],
+  "unseen": [
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen with care",
+    "Open the laptop computer with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer'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 computer with black screen carefully using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with care",
+    "Open the laptop computer with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open 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.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Open 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.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen with care",
+    "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 gently.",
+    "Open the laptop computer 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.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid gently.",
+    "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.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer 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.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the computer with black screen with one motion.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop'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.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "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 laptop computer carefully using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with care",
+    "Open the laptop computer with one motion.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen carefully using the right arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the computer with black screen using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with care",
+    "Open the laptop computer with one motion.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer'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."
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the matte laptop with smooth screen",
+    "Lift the device with flat keyboard and screen open with the left arm.",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Open the Toshiba laptop with folding design lifting with the left arm",
+    "Open the black and silver laptop by lifting its lid.",
+    "With the left arm, open the compact black and silver computer's lid.",
+    "Raise the compact black and silver computer's top section.",
+    "Open the silver keyboard laptop carefully with the left arm.",
+    "Lift the rectangular laptop with Toshiba logo lid completely.",
+    "Pull open the laptop with silver keyboard",
+    "Fully open the the matte laptop with smooth screen.",
+    "Slide the laptop with silver keyboard open with the left arm.",
+    "Pull the medium-sized laptop upward lightly.",
+    "Gently open the medium-sized laptop.",
+    "Carefully open the Toshiba laptop with folding design using the left arm",
+    "Gently open the rectangular laptop with Toshiba logo upward.",
+    "Raise and open the compact black and silver computer.",
+    "Open the portable folding laptop entirely.",
+    "Raise the rectangular laptop with Toshiba logo lid with the left arm.",
+    "Lift the rectangular laptop with Toshiba logo's lid using the left arm.",
+    "Use the left arm to open the silver keyboard laptop.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Pull the compact black and silver computer's lid upward.",
+    "Gently raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "Raise the lid of the laptop with silver keyboard.",
+    "Raise the laptop with silver keyboard using the left arm firmly.",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Raise the matte laptop with smooth screen lid using the left arm.",
+    "Gently lift the Toshiba laptop with folding design using the left arm",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Use the left arm to raise the medium-sized laptop.",
+    "Use the left arm to open the folding laptop with screen and keyboard",
+    "Raise the medium-sized laptop to expose the screen",
+    "Lift the Toshiba laptop with folding design slightly.",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Push the black and silver laptop's lid upward using the left arm.",
+    "Pull the lid of the compact black and silver computer upward.",
+    "Lift the black and silver laptop to open.",
+    "Raise the device with flat keyboard and screen using the left arm.",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "Use the left arm to open the medium-sized laptop.",
+    "Pull the screen of the matte laptop with smooth screen.",
+    "Open the portable folding laptop completely.",
+    "Lift the device with flat keyboard and screen to open it up",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Use the left arm to raise the portable folding laptop.",
+    "Pull the rectangular laptop with Toshiba logo open with the left arm.",
+    "Fully lift the Toshiba laptop with folding design using the left arm.",
+    "Use the left arm to lift the Toshiba laptop with folding design",
+    "Lift the device with flat keyboard and screen open with the left arm.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Open the compact black and silver computer lifting with the left arm",
+    "Open the portable folding laptop by lifting its lid.",
+    "With the left arm, open the black and silver laptop's lid.",
+    "Raise the silver keyboard laptop's top section.",
+    "Open the device with flat keyboard and screen carefully with the left arm.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Pull open the black and silver laptop",
+    "Fully open the the compact black and silver computer.",
+    "Slide the device with flat keyboard and screen open with the left arm.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Gently open the device with flat keyboard and screen.",
+    "Carefully open the portable folding laptop using the left arm",
+    "Gently open the black laptop with reflective screen upward.",
+    "Raise and open the matte laptop with smooth screen.",
+    "Open the portable folding laptop entirely.",
+    "Raise the portable folding laptop lid with the left arm.",
+    "Lift the Toshiba laptop with folding design's lid using the left arm.",
+    "Use the left arm to open the compact black and silver computer.",
+    "Use the left arm to raise the silver keyboard laptop.",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Gently raise the black and silver laptop using the left arm.",
+    "Lift and open the silver keyboard laptop.",
+    "Raise the lid of the black and silver laptop.",
+    "Raise the folding laptop with screen and keyboard using the left arm firmly.",
+    "Use the left arm to open the black and silver laptop.",
+    "Raise the silver keyboard laptop lid using the left arm.",
+    "Gently lift the compact black and silver computer using the left arm",
+    "Hold the compact black and silver computer steady, lift lid.",
+    "Use the left arm to raise the device with flat keyboard and screen.",
+    "Use the left arm to open the device with flat keyboard and screen",
+    "Raise the rectangular laptop with Toshiba logo to expose the screen",
+    "Lift the portable folding laptop slightly.",
+    "Raise the black laptop with reflective screen using the left arm.",
+    "Push the portable folding laptop's lid upward using the left arm.",
+    "Pull the lid of the matte laptop with smooth screen upward.",
+    "Lift the device with flat keyboard and screen to open.",
+    "Raise the portable folding laptop using the left arm.",
+    "Pull up the lid of the Toshiba laptop with folding design",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Open the medium-sized laptop completely.",
+    "Lift the medium-sized laptop to open it up",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Pull the matte laptop with smooth screen open with the left arm.",
+    "Fully lift the black laptop with reflective screen using the left arm."
+  ],
+  "unseen": [
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with one motion.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with one motion.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with one motion.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the computer with black screen'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 left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen using the left arm.",
+    "Lift the portable Toshiba laptop'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 left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with one motion.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with one motion.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen using the left arm.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen using the left arm.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer using the left 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 left arm.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop using the left arm."
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/instructions/episode21.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently open the silver keyboard laptop upward.",
+    "Raise the lid of the folding laptop with screen and keyboard.",
+    "Lift the compact black and silver computer slightly.",
+    "Raise the silver keyboard laptop lid with the left arm.",
+    "Use the left arm to open the device with flat keyboard and screen.",
+    "Carefully open the device with flat keyboard and screen using the left arm",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Gently lift the device with flat keyboard and screen using the left arm",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Raise and open the laptop with silver keyboard.",
+    "Use the left arm to open the matte laptop with smooth screen",
+    "Raise the top of the rectangular laptop with Toshiba logo",
+    "Lift the black and silver laptop to open it up",
+    "Pull up the lid of the medium-sized laptop",
+    "Lift and open the medium-sized laptop.",
+    "Lift the silver keyboard laptop to open.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Fully lift the device with flat keyboard and screen using the left arm.",
+    "Raise the medium-sized laptop using the left arm firmly.",
+    "Open the portable folding laptop lifting with the left arm",
+    "Pull open the black and silver laptop",
+    "Pull the screen of the black and silver laptop.",
+    "Slide the black and silver laptop open with the left arm.",
+    "Pull the black laptop with reflective screen open with the left arm.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Open the laptop with silver keyboard entirely.",
+    "Raise the silver keyboard laptop's top section.",
+    "Lift the black laptop with reflective screen's lid using the left arm.",
+    "Use the left arm to open the black and silver laptop.",
+    "Lift the device with flat keyboard and screen open with the left arm.",
+    "Lift the device with flat keyboard and screen's lid upwards.",
+    "Raise the black laptop with reflective screen to expose the screen",
+    "Use the left arm to lift the compact black and silver computer",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "With the left arm, open the silver keyboard laptop's lid.",
+    "Push the folding laptop with screen and keyboard's lid upward using the left arm.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Grip and lift the black laptop with reflective screen's lid.",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Use the left arm to open the portable folding laptop.",
+    "Open the silver keyboard laptop completely.",
+    "Raise the black and silver laptop lid using the left arm.",
+    "Raise the rectangular laptop with Toshiba logo using the left arm.",
+    "Gently open the portable folding laptop.",
+    "Open the compact black and silver computer by lifting its lid.",
+    "Open the portable folding laptop carefully with the left arm.",
+    "Gently raise the device with flat keyboard and screen using the left arm.",
+    "Raise the black laptop with reflective screen using the left arm.",
+    "Fully open the the portable folding laptop.",
+    "Gently open the compact black and silver computer upward.",
+    "Raise the lid of the Toshiba laptop with folding design.",
+    "Lift the black and silver laptop slightly.",
+    "Raise the portable folding laptop lid with the left arm.",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Carefully open the silver keyboard laptop using the left arm",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Gently lift the Toshiba laptop with folding design using the left arm",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Raise and open the black laptop with reflective screen.",
+    "Use the left arm to open the Toshiba laptop with folding design",
+    "Raise the top of the rectangular laptop with Toshiba logo",
+    "Lift the black and silver laptop to open it up",
+    "Pull up the lid of the black and silver laptop",
+    "Lift and open the black and silver laptop.",
+    "Lift the black laptop with reflective screen to open.",
+    "Use the left arm to raise the compact black and silver computer.",
+    "Use the left arm to raise the black laptop with reflective screen.",
+    "Fully lift the rectangular laptop with Toshiba logo using the left arm.",
+    "Raise the silver keyboard laptop using the left arm firmly.",
+    "Open the silver keyboard laptop lifting with the left arm",
+    "Pull open the laptop with silver keyboard",
+    "Pull the screen of the black and silver laptop.",
+    "Slide the rectangular laptop with Toshiba logo open with the left arm.",
+    "Pull the laptop with silver keyboard open with the left arm.",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Open the silver keyboard laptop entirely.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Lift the Toshiba laptop with folding design's lid using the left arm.",
+    "Use the left arm to open the black laptop with reflective screen.",
+    "Lift the silver keyboard laptop open with the left arm.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Raise the black and silver laptop to expose the screen",
+    "Use the left arm to lift the Toshiba laptop with folding design",
+    "Lift the black laptop with reflective screen lid completely.",
+    "With the left arm, open the black laptop with reflective screen's lid.",
+    "Push the laptop with silver keyboard's lid upward using the left arm.",
+    "Use the left arm to raise the compact black and silver computer.",
+    "Grip and lift the rectangular laptop with Toshiba logo's lid.",
+    "Pull the lid of the portable folding laptop upward.",
+    "Use the left arm to open the silver keyboard laptop.",
+    "Open the laptop with silver keyboard completely.",
+    "Raise the silver keyboard laptop lid using the left arm.",
+    "Raise the device with flat keyboard and screen using the left arm.",
+    "Gently open the medium-sized laptop.",
+    "Open the compact black and silver computer by lifting its lid.",
+    "Open the silver keyboard laptop carefully with the left arm.",
+    "Gently raise the medium-sized laptop using the left arm.",
+    "Raise the Toshiba laptop with folding design using the left arm.",
+    "Fully open the the folding laptop with screen and keyboard."
+  ],
+  "unseen": [
+    "Open the computer with black screen carefully using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "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.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen using the left arm",
+    "Open the computer with black screen carefully using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the computer with black screen using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the laptop computer'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.",
+    "Lift the computer with black screen using the left arm",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Lift the laptop computer's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "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.",
+    "Lift the computer with black screen using the left arm",
+    "Open the laptop computer carefully using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Open the computer with black screen using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen 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.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the computer with black screen carefully using the left arm.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer using the left arm",
+    "Open the computer with black screen carefully using the left arm.",
+    "Open the laptop computer using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "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.",
+    "Lift the computer with black screen using the left arm"
+  ]
+}

spatial/train/open_laptop/rtgen_spatial_train_open_laptop_default_region/seed.txt

@@ -0,0 +1 @@
+1932724403 762106319 1302191821 464246586 1010044043 446663063 687220086 1435907842 519397232 594952435 252615066 1482059117 766580238 287344798 1771484187 953560946 1557422525 1963889499 1067492216 993572465 118277847 1482909354 1016504379 674944703 755142893 1440283687 1866852172 1087027301 156090057 949673153 1384256185 2081537292 1964700618 492659946 2113597124 1472404301 650624525 2077541192 510946571 790389029 270885175 486373279 2097134728 1304278995 855067849 1050160965 877932857 1196246277 738020391 1129923076 

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the red bottle with narrow neck, the other for the handheld brown bottle with white lid.",
+    "Hold the plastic bottle in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Assign one arm to each of the bottle with red cap and the cylindrical bottle with narrow neck.",
+    "Secure both the plastic bottle and the rounded bottle with printed details quickly.",
+    "Catch the red bottle with curved grooves, then grab the bottle with brown body and white top too.",
+    "Catch the red bottle, then catch the white-capped brown cylindrical bottle.",
+    "Lift the plastic bottle and also take hold of the plastic bottle with printed label.",
+    "Let each arm grab either the handheld plastic bottle or the bottle with white cap.",
+    "Hold onto the plastic bottle with bright red color and then get the plastic bottle for liquids.",
+    "Lift the red bottle with white bottom text, continue and pick up the handheld brown bottle with white lid.",
+    "Use both arms to pick up the red bottle with narrow neck and the medium bottle with smooth texture.",
+    "Use both arms to lift the bottle with red cap and the bottle with white cap.",
+    "Use both arms to pick up the red bottle with curved grooves and the bottle with dark brown color.",
+    "Grab the plastic bottle and pick up the plastic bottle with printed label.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Use each arm to lift the yellow text bottle and the bottle with brown body and white top.",
+    "Catch the red bottle with curved grooves with one arm, the plastic bottle with printed label with another arm.",
+    "Take hold of the red bottle with narrow neck and the medium bottle with smooth texture.",
+    "Grab the red bottle with screw cap, pick up the white-capped brown cylindrical bottle.",
+    "Catch the yellow text bottle, grab the cylindrical bottle with narrow neck next.",
+    "Grab the yellow text 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 medium bottle with smooth texture.",
+    "Use one arm for the yellow text bottle and the other for the bottle with brown body and white top.",
+    "Lift both the yellow text bottle and the bottle with brown body and white top simultaneously.",
+    "Hold onto the red bottle with screw cap, then pick up the medium plastic bottle.",
+    "Pick up the bottle with red cap and then pick up the plastic bottle for liquids.",
+    "Lift the red bottle and the rounded bottle with printed details with separate arms.",
+    "Use one arm for the yellow text bottle, another for the medium plastic bottle.",
+    "Grab the plastic bottle with bright red color with one arm, the medium bottle with smooth texture 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 handheld plastic bottle and the bottle with brown body and white top.",
+    "Secure the red bottle and the bottle with dark brown color in succession.",
+    "Grasp the red bottle with screw cap first, then take the rounded bottle with printed details.",
+    "Pick up both the red bottle with narrow neck and the smooth brown bottle together.",
+    "With two arms, catch both the plastic bottle with bright red color and the bottle with white cap.",
+    "With both arms, pick up the red bottle, then the bottle with white cap.",
+    "Hold the red bottle with narrow neck in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Hold the yellow text bottle with one arm, hold the smooth brown bottle with the other.",
+    "Catch the red bottle with screw cap, then take hold of the medium plastic bottle.",
+    "Pick up the red bottle, then pick up the handheld brown bottle with white lid.",
+    "Grab the red bottle with narrow neck using one arm and the cylindrical bottle with narrow neck using the other.",
+    "Secure the red bottle with curved grooves, then secure the medium plastic bottle.",
+    "Catch the handheld plastic bottle in one arm and the medium plastic bottle in the other arm.",
+    "Assign one arm to catch the red bottle with screw cap, one for the bottle with white cap.",
+    "Grab and hold the red bottle with white bottom text, then grab the bottle with white cap.",
+    "Pick both the plastic bottle and the medium bottle with smooth texture one after another.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the bottle with white cap.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the bottle with white cap.",
+    "Collect the red bottle with white bottom text, then pick up the bottle with white cap.",
+    "Grab the yellow text bottle with one arm, the rounded bottle with printed details with the other.",
+    "Use one arm for the bottle with red cap, the other for the smooth brown bottle.",
+    "Hold the red bottle with white bottom text in one arm, the bottle with dark brown color in the other.",
+    "Assign one arm to each of the plastic bottle and the medium plastic bottle.",
+    "Secure both the yellow text bottle and the rounded bottle with printed details quickly.",
+    "Catch the red bottle with narrow neck, then grab the plastic bottle with printed label too.",
+    "Catch the plastic bottle with bright red color, then catch the smooth brown bottle.",
+    "Lift the red bottle with white bottom text and also take hold of the plastic bottle for liquids.",
+    "Let each arm grab either the plastic bottle or the smooth brown bottle.",
+    "Hold onto the bottle with red cap and then get the bottle with dark brown color.",
+    "Lift the red bottle with white bottom text, continue and pick up 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 lift the red bottle and the plastic bottle for liquids.",
+    "Use both arms to pick up the plastic bottle with bright red color and the smooth brown bottle.",
+    "Grab the smooth red cylindrical bottle and pick up the bottle with dark brown color.",
+    "Lift both bottles, the plastic bottle with one arm, the rounded bottle with printed details with the other.",
+    "Use each arm to lift the plastic bottle and the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with narrow neck 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 plastic bottle with printed label.",
+    "Grab the red bottle with curved grooves, pick up the plastic bottle for liquids.",
+    "Catch the red bottle, grab the medium plastic bottle next.",
+    "Grab the bottle with red cap using an arm and the medium bottle with smooth texture with the other arm.",
+    "Pick up both the handheld plastic bottle and the white-capped brown cylindrical bottle.",
+    "Use one arm for the plastic bottle with bright red color and the other for the white-capped brown cylindrical bottle.",
+    "Lift both the red bottle with narrow neck and the bottle with brown body and white top simultaneously.",
+    "Hold onto the medium-size plastic bottle, then pick up the medium plastic bottle.",
+    "Pick up the red bottle with curved grooves and then pick up the handheld brown bottle with white lid.",
+    "Lift the yellow text bottle and the medium bottle with smooth texture with separate arms.",
+    "Use one arm for the red bottle with white bottom text, another for the medium bottle with smooth texture.",
+    "Grab the bottle with red cap with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Catch both the red bottle with screw cap and the rounded bottle with printed details quickly.",
+    "Hold both the medium-size plastic bottle and the rounded bottle with printed details.",
+    "Secure the yellow text bottle and the bottle with dark brown color in succession.",
+    "Grasp the handheld plastic bottle first, then take the cylindrical bottle with narrow neck.",
+    "Pick up both the bottle with red cap and the plastic bottle with printed label together.",
+    "With two arms, catch both the handheld plastic bottle and the medium plastic bottle.",
+    "With both arms, pick up the yellow text bottle, then the smooth brown bottle.",
+    "Hold the medium-size plastic bottle in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Hold the medium-size plastic bottle with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Catch the red bottle with narrow neck, then take hold of the bottle with dark brown color.",
+    "Pick up the handheld plastic bottle, then pick up the smooth brown bottle.",
+    "Grab the red bottle with narrow neck using one arm and the plastic bottle with printed label using the other.",
+    "Secure the yellow text bottle, then secure the bottle with dark brown color.",
+    "Catch the red bottle with screw cap in one arm and the plastic bottle with printed label in the other arm.",
+    "Assign one arm to catch the red bottle with narrow neck, one for the bottle with dark brown color.",
+    "Grab and hold the red bottle with narrow neck, then grab the cylindrical bottle with narrow neck.",
+    "Pick both the medium-size plastic bottle and the plastic bottle with printed label one after another.",
+    "One arm grabs the red bottle; the other arm grabs the bottle with white cap.",
+    "Each arm should pick up one: the handheld plastic bottle, then the handheld brown bottle with white lid.",
+    "Collect the red bottle with curved grooves, then pick up the rounded bottle with printed details.",
+    "Grab the red bottle with screw cap with one arm, the rounded bottle with printed details with the other."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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 cylindrical bottle with label 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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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 yellow Chinese characters 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.",
+    "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 bottle.",
+    "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 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 the brown bottle at the same time.",
+    "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 the shiny red bottle and the lightweight plastic brown bottle together.",
+    "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 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 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 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 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 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.",
+    "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.",
+    "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.",
+    "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 cylindrical bottle with label at the same time.",
+    "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 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 both 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 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 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.",
+    "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 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 the bottle with yellow Chinese characters and take 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 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 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 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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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 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 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 bottle with yellow Chinese characters and the lightweight plastic brown bottle together.",
+    "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.",
+    "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 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 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 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 lightweight plastic brown bottle."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle with red cap in one arm, the bottle with brown body and white top in the other.",
+    "Hold onto the bottle with red cap, then pick up the medium bottle with smooth texture.",
+    "Use both arms to pick up the handheld plastic bottle and the bottle with dark brown color.",
+    "Pick up both the plastic bottle and the medium bottle with smooth texture.",
+    "Collect the plastic bottle, then pick up the plastic bottle for liquids.",
+    "Grab and hold the red bottle, then grab the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the cylindrical bottle with narrow neck.",
+    "Grab the plastic bottle with bright red color, pick up the plastic bottle for liquids.",
+    "Secure the red bottle with narrow neck and the bottle with brown body and white top in succession.",
+    "Hold both the handheld plastic bottle and the white-capped brown cylindrical bottle.",
+    "Use both arms to lift the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Grab the smooth red cylindrical bottle and pick up the handheld brown bottle with white lid.",
+    "Lift the plastic bottle and the medium plastic bottle with separate arms.",
+    "Assign one arm to catch the plastic bottle with bright red color, one for the medium plastic bottle.",
+    "Use each arm to lift the red bottle and the plastic bottle with printed label.",
+    "Use both arms to pick up the red bottle and the plastic bottle for liquids.",
+    "Lift both the yellow text bottle and the rounded bottle with printed details simultaneously.",
+    "Hold the red bottle with curved grooves in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Take hold of the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Hold the plastic bottle with bright red color with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Catch the red bottle with narrow neck, grab the handheld brown bottle with white lid next.",
+    "Use one arm for the plastic bottle with bright red color and the other for the plastic bottle for liquids.",
+    "Pick up the bottle with red cap and then pick up the plastic bottle for liquids.",
+    "Lift the plastic bottle with bright red color and also take hold of the cylindrical bottle with narrow neck.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the bottle with white cap.",
+    "Grab the handheld plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Grab the red bottle with curved grooves using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Each arm should pick up one: the red bottle with screw cap, then the bottle with white cap.",
+    "Secure both the handheld plastic bottle and the bottle with white cap quickly.",
+    "Use one arm for the red bottle, the other for the white-capped brown cylindrical bottle.",
+    "Assign one arm to each of the red bottle and the plastic bottle for liquids.",
+    "Pick up both the bottle with red cap and the plastic bottle for liquids together.",
+    "Secure the red bottle with curved grooves, then secure the medium bottle with smooth texture.",
+    "Catch the red bottle with white bottom text, then take hold of the medium plastic bottle.",
+    "Catch the red bottle with screw cap, then grab the smooth brown bottle too.",
+    "Pick up the medium-size plastic bottle, then pick up the medium plastic bottle.",
+    "Grasp the bottle with red cap first, then take the bottle with brown body and white top.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the bottle with white cap with the other.",
+    "Pick both the plastic bottle with bright red color and the medium plastic bottle one after another.",
+    "One arm grabs the red bottle with screw cap; the other arm grabs the smooth brown bottle.",
+    "Catch the red bottle with white bottom text in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "Catch the plastic bottle with bright red color with one arm, the bottle with white cap with another arm.",
+    "Catch the red bottle, then catch the medium plastic bottle.",
+    "Grab the handheld plastic bottle with one arm, the smooth brown bottle with the other.",
+    "Use one arm for the smooth red cylindrical bottle, another for the plastic bottle for liquids.",
+    "Let each arm grab either the bottle with red cap or the white-capped brown cylindrical bottle.",
+    "Hold onto the bottle with red cap and then get the bottle with white cap.",
+    "With two arms, catch both the handheld plastic bottle and the bottle with brown body and white top.",
+    "Grab the medium-size plastic bottle using one arm and the medium plastic bottle using the other.",
+    "Catch both the handheld plastic bottle and the plastic bottle for liquids quickly.",
+    "Hold the red bottle with narrow neck in one arm, the medium plastic bottle in the other.",
+    "Hold onto the medium-size plastic bottle, then pick up the plastic bottle with printed label.",
+    "Use both arms to pick up the yellow text bottle and the bottle with brown body and white top.",
+    "Pick up both the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "Collect the medium-size plastic bottle, then pick up the medium plastic bottle.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the cylindrical bottle with narrow neck.",
+    "With both arms, pick up the yellow text bottle, then the cylindrical bottle with narrow neck.",
+    "Grab the smooth red cylindrical bottle, pick up the smooth brown bottle.",
+    "Secure the red bottle and the rounded bottle with printed details in succession.",
+    "Hold both the red bottle with curved grooves and the smooth brown bottle.",
+    "Use both arms to lift the red bottle with screw cap and the bottle with white cap.",
+    "Grab the yellow text bottle and pick up the plastic bottle for liquids.",
+    "Lift the bottle with red cap and the plastic bottle with printed label with separate arms.",
+    "Assign one arm to catch the red bottle with screw cap, one for the rounded bottle with printed details.",
+    "Use each arm to lift the bottle with red cap and the cylindrical bottle with narrow neck.",
+    "Use both arms to pick up the red bottle with screw cap and the cylindrical bottle with narrow neck.",
+    "Lift both the plastic bottle and the bottle with brown body and white top simultaneously.",
+    "Hold the yellow text bottle in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Take hold of the handheld plastic bottle and the bottle with dark brown color.",
+    "Hold the plastic bottle with one arm, hold the bottle with dark brown color with the other.",
+    "Catch the handheld plastic bottle, grab the medium plastic bottle next.",
+    "Use one arm for the plastic bottle and the other for the plastic bottle with printed label.",
+    "Pick up the yellow text bottle and then pick up the medium bottle with smooth texture.",
+    "Lift the red bottle with curved grooves and also take hold of the plastic bottle for liquids.",
+    "Lift the medium-size plastic bottle, continue and pick up the bottle with dark brown color.",
+    "Grab the plastic bottle with one arm, the bottle with white cap with the other.",
+    "Grab the red bottle with narrow neck using an arm and the bottle with white cap with the other arm.",
+    "Each arm should pick up one: the plastic bottle, then the medium bottle with smooth texture.",
+    "Secure both the plastic bottle and the bottle with white cap quickly.",
+    "Use one arm for the plastic bottle with bright red color, the other for the cylindrical bottle with narrow neck.",
+    "Assign one arm to each of the plastic bottle and the rounded bottle with printed details.",
+    "Pick up both the bottle with red cap and the medium plastic bottle together.",
+    "Secure the handheld plastic bottle, then secure the medium bottle with smooth texture.",
+    "Catch the handheld plastic bottle, then take hold of the plastic bottle for liquids.",
+    "Catch the handheld plastic bottle, then grab the smooth brown bottle too.",
+    "Pick up the red bottle with narrow neck, then pick up the bottle with dark brown color.",
+    "Grasp the red bottle with narrow neck first, then take the plastic bottle with printed label.",
+    "Lift both bottles, the smooth red cylindrical bottle with one arm, the smooth brown bottle with the other.",
+    "Pick both the smooth red cylindrical bottle and the rounded bottle with printed details one after another.",
+    "One arm grabs the bottle with red cap; the other arm grabs 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.",
+    "Catch the plastic bottle with bright red color with one arm, the plastic bottle with printed label with another arm.",
+    "Catch the yellow text bottle, then catch the bottle with brown body and white top.",
+    "Grab the plastic bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Use one arm for the red bottle with white bottom text, another for the bottle with white cap.",
+    "Let each arm grab either the handheld plastic bottle or the handheld brown bottle with white lid.",
+    "Hold onto the plastic bottle with bright red color and then get the white-capped brown cylindrical bottle.",
+    "With two arms, catch both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Grab the bottle with red cap using one arm and the cylindrical bottle with narrow neck using the other.",
+    "Catch both the bottle with red cap and the bottle with dark brown color quickly."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "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 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 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 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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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 brown bottle with the other.",
+    "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 bottle 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.",
+    "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.",
+    "Pick up both the bottle with white and yellow label 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 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 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 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 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 and grab the brown bottle at once.",
+    "Pick up both the bottle with white and yellow label 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 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.",
+    "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 shiny red bottle and the brown bottle.",
+    "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 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.",
+    "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 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.",
+    "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 bottle 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 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 brown cylindrical bottle with label at once.",
+    "Pick up both 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.",
+    "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 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 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 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.",
+    "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.",
+    "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 bottle with the other.",
+    "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 bottle with the other.",
+    "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.",
+    "Use each arm to lift a bottle: the shiny red bottle, then 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 white and yellow label and the brown bottle together.",
+    "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 lightweight plastic brown bottle with the other.",
+    "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 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 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 bottle at once.",
+    "Pick up both the bottle with white and yellow label and the 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 with one arm, grab the brown bottle with the other.",
+    "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.",
+    "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 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."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the red bottle, then grab the medium bottle with smooth texture too.",
+    "Collect the handheld plastic bottle, then pick up the handheld brown bottle with white lid.",
+    "Catch the plastic bottle, then catch the bottle with brown body and white top.",
+    "Assign one arm to each of the red bottle with curved grooves and the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the yellow text bottle, then the plastic bottle with printed label.",
+    "Use both arms to pick up the handheld plastic bottle and the medium bottle with smooth texture.",
+    "Pick both the bottle with red cap and the bottle with brown body and white top one after another.",
+    "One arm grabs the bottle with red cap; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Grab and hold the red bottle with narrow neck, then grab the medium bottle with smooth texture.",
+    "Catch the smooth red cylindrical bottle in one arm and the rounded bottle with printed details in the other arm.",
+    "Secure the medium-size plastic bottle and the medium bottle with smooth texture in succession.",
+    "Secure both the bottle with red cap and the plastic bottle for liquids quickly.",
+    "Lift both bottles, the smooth red cylindrical bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Pick up the red bottle and then pick up the smooth brown bottle.",
+    "With both arms, pick up the handheld plastic bottle, then the cylindrical bottle with narrow neck.",
+    "Grab the medium-size plastic bottle and pick up the white-capped brown cylindrical bottle.",
+    "Use one arm for the red bottle and the other for the bottle with dark brown color.",
+    "Lift the red bottle with narrow neck and also take hold of the cylindrical bottle with narrow neck.",
+    "Grab the smooth red cylindrical bottle, pick up the rounded bottle with printed details.",
+    "Hold the red bottle with screw cap in one arm, catch the medium plastic bottle with the other arm.",
+    "Catch both the red bottle with white bottom text and the plastic bottle for liquids quickly.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the bottle with brown body and white top with the other.",
+    "Catch the red bottle with screw cap, grab the rounded bottle with printed details next.",
+    "Hold the red bottle with screw cap in one arm, the bottle with brown body and white top in the other.",
+    "Lift the red bottle with narrow neck, continue and pick up the medium bottle with smooth texture.",
+    "Lift the red bottle with white bottom text and the cylindrical bottle with narrow neck with separate arms.",
+    "Lift both the red bottle with narrow neck and the plastic bottle for liquids simultaneously.",
+    "Catch the plastic bottle with bright red color, then take hold of the smooth brown bottle.",
+    "Hold onto the bottle with red cap and then get the medium bottle with smooth texture.",
+    "Pick up both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Pick up both the red bottle with screw cap and the bottle with white cap together.",
+    "Use one arm for the plastic bottle with bright red color, another for the plastic bottle for liquids.",
+    "Grasp the yellow text bottle first, then take the medium bottle with smooth texture.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the rounded bottle with printed details.",
+    "Grab the smooth red cylindrical bottle 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 dark brown color.",
+    "Use both arms to lift the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Hold both the red bottle and the medium bottle with smooth texture.",
+    "Secure the bottle with red cap, then secure the bottle with brown body and white top.",
+    "Use each arm to lift the smooth red cylindrical bottle and the handheld brown bottle with white lid.",
+    "Take hold of the red bottle and the bottle with brown body and white top.",
+    "Grab the handheld plastic bottle using one arm and the smooth brown bottle using the other.",
+    "Hold onto the red bottle with screw cap, then pick up the medium bottle with smooth texture.",
+    "Grab the red bottle with narrow neck using an arm and the medium bottle with smooth texture with the other arm.",
+    "Use both arms to pick up the red bottle and the medium bottle with smooth texture.",
+    "Use one arm for the bottle with red cap, the other for the bottle with dark brown color.",
+    "Pick up the red bottle, then pick up the medium plastic bottle.",
+    "With two arms, catch both the handheld plastic bottle and the bottle with dark brown color.",
+    "Catch the red bottle with narrow neck with one arm, the bottle with dark brown color with another arm.",
+    "Grab the yellow text bottle with one arm, the bottle with dark brown color with the other.",
+    "Catch the red bottle, then grab the bottle with brown body and white top too.",
+    "Collect the yellow text bottle, then pick up the medium bottle with smooth texture.",
+    "Catch the red bottle with curved grooves, then catch the plastic bottle with printed label.",
+    "Assign one arm to each of the handheld plastic bottle and the bottle with white cap.",
+    "Each arm should pick up one: the plastic bottle, then the handheld brown bottle with white lid.",
+    "Use both arms to pick up the yellow text bottle and the smooth brown bottle.",
+    "Pick both the red bottle with white bottom text and the medium bottle with smooth texture one after another.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the medium plastic bottle.",
+    "Grab and hold the red bottle, then grab the cylindrical bottle with narrow neck.",
+    "Catch the plastic bottle in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "Secure the plastic bottle with bright red color and the plastic bottle with printed label in succession.",
+    "Secure both the red bottle with screw cap and the bottle with brown body and white top quickly.",
+    "Lift both bottles, the bottle with red cap with one arm, the bottle with dark brown color with the other.",
+    "Pick up the red bottle and then pick up the medium plastic bottle.",
+    "With both arms, pick up the red bottle with curved grooves, then the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with white bottom text and pick up the bottle with white cap.",
+    "Use one arm for the handheld plastic bottle and the other for the bottle with brown body and white top.",
+    "Lift the plastic bottle with bright red color and also take hold of the bottle with brown body and white top.",
+    "Grab the yellow text bottle, pick up the plastic bottle with printed label.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the bottle with dark brown color with the other arm.",
+    "Catch both the handheld plastic bottle and the white-capped brown cylindrical bottle quickly.",
+    "Hold the medium-size plastic bottle with one arm, hold the medium plastic bottle with the other.",
+    "Catch the handheld plastic bottle, grab the bottle with white cap next.",
+    "Hold the red bottle with white bottom text in one arm, the bottle with brown body and white top in the other.",
+    "Lift the handheld plastic bottle, continue and pick up the rounded bottle with printed details.",
+    "Lift the red bottle with narrow neck and the bottle with brown body and white top with separate arms.",
+    "Lift both the yellow text bottle and the bottle with white cap simultaneously.",
+    "Catch the red bottle with curved grooves, then take hold of the smooth brown bottle.",
+    "Hold onto the handheld plastic bottle and then get the bottle with brown body and white top.",
+    "Pick up both the bottle with red cap and the plastic bottle with printed label.",
+    "Pick up both the red bottle with screw cap and the bottle with white cap together.",
+    "Use one arm for the red bottle with screw cap, another for the medium bottle with smooth texture.",
+    "Grasp the plastic bottle with bright red color first, then take the smooth brown bottle.",
+    "Assign one arm to catch the bottle with red cap, one for the white-capped brown cylindrical bottle.",
+    "Grab the plastic bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Let each arm grab either the smooth red cylindrical bottle or the medium bottle with smooth texture.",
+    "Use both arms to lift the red bottle with curved grooves and the plastic bottle for liquids.",
+    "Hold both the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Secure the red bottle with curved grooves, then secure the plastic bottle with printed label.",
+    "Use each arm to lift the red bottle and the handheld brown bottle with white lid.",
+    "Take hold of the red bottle with screw cap and the plastic bottle with printed label.",
+    "Grab the red bottle with screw cap using one arm and the bottle with dark brown color using the other.",
+    "Hold onto the yellow text bottle, then pick up the smooth brown bottle.",
+    "Grab the handheld plastic bottle using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the medium bottle with smooth texture.",
+    "Use one arm for the red bottle with curved grooves, the other for the medium plastic bottle.",
+    "Pick up the red bottle with screw cap, then pick up the medium bottle with smooth texture.",
+    "With two arms, catch both the plastic bottle and the medium bottle with smooth texture.",
+    "Catch the yellow text bottle with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Grab the handheld plastic bottle with one arm, the bottle with white cap with the other."
+  ],
+  "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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 yellow Chinese characters, then the brown bottle.",
+    "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.",
+    "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 brown cylindrical bottle with label.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "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 grab the lightweight plastic brown bottle at once.",
+    "Grab the shiny red bottle and the brown cylindrical bottle with label at the same time.",
+    "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 yellow Chinese characters and the brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "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 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 brown cylindrical bottle with label at once.",
+    "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 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 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 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 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 brown cylindrical bottle with label at once.",
+    "Grab the bottle with yellow Chinese characters 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.",
+    "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 bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 white and yellow label 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.",
+    "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.",
+    "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 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 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 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.",
+    "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.",
+    "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 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 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 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.",
+    "Grab the bottle with yellow Chinese characters and the 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.",
+    "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.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "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 bottle.",
+    "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 cylindrical bottle with label with the other."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift both the handheld plastic bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "Use each arm to lift the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the smooth brown bottle.",
+    "One arm grabs the red bottle with screw cap; the other arm grabs 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.",
+    "Use both arms to lift the red bottle with white bottom text and the plastic bottle for liquids.",
+    "Let each arm grab either the yellow text bottle or the bottle with brown body and white top.",
+    "Catch the red bottle with screw cap, then grab the plastic bottle with printed label too.",
+    "Grab the plastic bottle and pick up the handheld brown bottle with white lid.",
+    "Pick up the yellow text bottle, then pick up the bottle with white cap.",
+    "Collect the red bottle, then pick up the plastic bottle for liquids.",
+    "Catch the plastic bottle, grab the plastic bottle for liquids next.",
+    "Lift the bottle with red cap and the cylindrical bottle with narrow neck with separate arms.",
+    "Secure the yellow text bottle, then secure the rounded bottle with printed details.",
+    "Hold the yellow text bottle in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Grab the red bottle with white bottom text with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Secure the bottle with red cap and the medium bottle with smooth texture in succession.",
+    "Lift both bottles, the red bottle with one arm, the smooth brown bottle with the other.",
+    "Lift the handheld plastic bottle and also take hold of the handheld brown bottle with white lid.",
+    "Pick up both the red bottle and the smooth brown bottle.",
+    "With both arms, pick up the yellow text bottle, then the cylindrical bottle with narrow neck.",
+    "Use one arm for the red bottle and the other for the bottle with dark brown color.",
+    "Hold the red bottle with screw cap with one arm, hold the smooth brown bottle with the other.",
+    "Catch both the bottle with red cap and the bottle with dark brown color quickly.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the rounded bottle with printed details.",
+    "Pick up the plastic bottle and then pick up the medium bottle with smooth texture.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the plastic bottle with printed label.",
+    "Use one arm for the red bottle with curved grooves, the other for the plastic bottle with printed label.",
+    "Use one arm for the red bottle with narrow neck, another for the plastic bottle with printed label.",
+    "Hold the red bottle with narrow neck in one arm, the bottle with dark brown color in the other.",
+    "Assign one arm to each of the handheld plastic bottle and the bottle with white cap.",
+    "Secure both the red bottle with curved grooves and the bottle with dark brown color quickly.",
+    "Grab the plastic bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Hold onto the red bottle, then pick up the medium plastic bottle.",
+    "Hold onto the plastic bottle and then get the white-capped brown cylindrical bottle.",
+    "Pick both the plastic bottle with bright red color and the bottle with brown body and white top one after another.",
+    "With two arms, catch both the red bottle with narrow neck and the cylindrical bottle with narrow neck.",
+    "Hold both the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Grab the medium-size plastic bottle using an arm and the bottle with white cap with the other arm.",
+    "Grab and hold the plastic bottle with bright red color, then grab the plastic bottle with printed label.",
+    "Lift the plastic bottle, continue and pick up the smooth brown bottle.",
+    "Catch the red bottle, then take hold of the cylindrical bottle with narrow neck.",
+    "Pick up both the red bottle with curved grooves and the plastic bottle with printed label together.",
+    "Catch the plastic bottle with one arm, the rounded bottle with printed details with another arm.",
+    "Grab the red bottle with screw cap, pick up the bottle with brown body and white top.",
+    "Grasp the red bottle with screw cap first, then take the smooth brown bottle.",
+    "Catch the smooth red cylindrical bottle in one arm and the medium bottle with smooth texture in the other arm.",
+    "Take hold of the red bottle with screw cap and the bottle with white cap.",
+    "Each arm should pick up one: the plastic bottle, then the plastic bottle for liquids.",
+    "Catch the smooth red cylindrical bottle, then catch the plastic bottle with printed label.",
+    "Lift both the bottle with red cap and the plastic bottle for liquids simultaneously.",
+    "Use each arm to lift the handheld plastic bottle and the plastic bottle for liquids.",
+    "Use both arms to pick up the red bottle with curved grooves and the handheld brown bottle with white lid.",
+    "One arm grabs the red bottle; the other arm grabs the cylindrical bottle with narrow neck.",
+    "Grab the plastic bottle with bright red color using one arm and the handheld brown bottle with white lid using the other.",
+    "Use both arms to lift the red bottle with curved grooves and the bottle with white cap.",
+    "Let each arm grab either the plastic bottle or the bottle with dark brown color.",
+    "Catch the red bottle with curved grooves, then grab the white-capped brown cylindrical bottle too.",
+    "Grab the red bottle with curved grooves and pick up the smooth brown bottle.",
+    "Pick up the red bottle, then pick up the medium plastic bottle.",
+    "Collect the yellow text bottle, then pick up the plastic bottle for liquids.",
+    "Catch the smooth red cylindrical bottle, grab the white-capped brown cylindrical bottle next.",
+    "Lift the bottle with red cap and the bottle with dark brown color with separate arms.",
+    "Secure the red bottle with screw cap, then secure the bottle with white cap.",
+    "Hold the handheld plastic bottle in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Grab the red bottle with narrow neck with one arm, the bottle with brown body and white top with the other.",
+    "Secure the red bottle with screw cap and the handheld brown bottle with white lid in succession.",
+    "Lift both bottles, the red bottle with white bottom text with one arm, the handheld brown bottle with white lid with the other.",
+    "Lift the medium-size plastic bottle and also take hold of the smooth brown bottle.",
+    "Pick up both the handheld plastic bottle and the plastic bottle for liquids.",
+    "With both arms, pick up the red bottle with narrow neck, then the plastic bottle with printed label.",
+    "Use one arm for the handheld plastic bottle and the other for the bottle with white cap.",
+    "Hold the red bottle with white bottom text with one arm, hold the plastic bottle with printed label with the other.",
+    "Catch both the red bottle with white bottom text and the medium plastic bottle quickly.",
+    "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 with curved grooves and then pick up the handheld brown bottle with white lid.",
+    "Assign one arm to catch the plastic bottle with bright red color, one for the medium bottle with smooth texture.",
+    "Use one arm for the smooth red cylindrical bottle, the other for the medium bottle with smooth texture.",
+    "Use one arm for the smooth red cylindrical bottle, another for the smooth brown bottle.",
+    "Hold the red bottle with screw cap in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Assign one arm to each of the red bottle with narrow neck and the plastic bottle with printed label.",
+    "Secure both the red bottle with narrow neck and the white-capped brown cylindrical bottle quickly.",
+    "Grab the smooth red cylindrical bottle with one arm, the plastic bottle with printed label with the other.",
+    "Hold onto the red bottle with curved grooves, then pick up the handheld brown bottle with white lid.",
+    "Hold onto the red bottle with white bottom text and then get the rounded bottle with printed details.",
+    "Pick both the red bottle with screw cap and the plastic bottle for liquids one after another.",
+    "With two arms, catch both the red bottle and the bottle with white cap.",
+    "Hold both the red bottle with narrow neck and the bottle with white cap.",
+    "Grab the smooth red cylindrical bottle using an arm and the rounded bottle with printed details with the other arm.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the cylindrical bottle with narrow neck.",
+    "Lift the red bottle with screw cap, continue and pick up the medium plastic bottle.",
+    "Catch the red bottle with white bottom text, then take hold of the medium bottle with smooth texture.",
+    "Pick up both the red bottle with white bottom text and the rounded bottle with printed details together.",
+    "Catch the yellow text bottle with one arm, the smooth brown bottle with another arm.",
+    "Grab the red bottle with curved grooves, pick up the plastic bottle with printed label.",
+    "Grasp the smooth red cylindrical bottle first, then take the plastic bottle with printed label.",
+    "Catch the red bottle in one arm and the plastic bottle for liquids in the other arm.",
+    "Take hold of the plastic bottle with bright red color and the bottle with white cap.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the bottle with dark brown color.",
+    "Catch the medium-size plastic bottle, then catch the cylindrical bottle with narrow neck."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "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 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 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 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.",
+    "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 brown cylindrical bottle with label together.",
+    "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.",
+    "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 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 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 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 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.",
+    "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 yellow Chinese characters, then 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 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 white and yellow label 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.",
+    "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 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 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 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 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.",
+    "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 cylindrical bottle with label using the other.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 bottle.",
+    "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 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 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.",
+    "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.",
+    "Lift the bottle with white and yellow label using one arm and lift the brown bottle using the other.",
+    "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 lightweight plastic brown bottle.",
+    "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.",
+    "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 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.",
+    "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 cylindrical bottle with label using the other.",
+    "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 lightweight plastic brown bottle.",
+    "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 yellow Chinese characters, then the lightweight plastic brown bottle.",
+    "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 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 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 both 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.",
+    "Pick up 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 cylindrical bottle with label together.",
+    "Pick up the shiny red bottle with one arm, grab the brown cylindrical bottle with label with the other."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the red bottle with white bottom text, then secure the bottle with dark brown color.",
+    "Pick up both the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the red bottle or the white-capped brown cylindrical bottle.",
+    "Lift both the plastic bottle with bright red color and the bottle with dark brown color simultaneously.",
+    "Catch the handheld plastic bottle, then catch the medium plastic bottle.",
+    "Hold the red bottle with curved grooves in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "Secure both the red bottle and the handheld brown bottle with white lid quickly.",
+    "Grab the bottle with red cap and pick up the white-capped brown cylindrical bottle.",
+    "Use both arms to lift the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Lift both bottles, the yellow text bottle with one arm, the bottle with white cap with the other.",
+    "Grab the red bottle with narrow neck with one arm, the medium plastic bottle with the other.",
+    "Assign one arm to each of the red bottle with curved grooves and the plastic bottle with printed label.",
+    "Grab and hold the red bottle with narrow neck, then grab the smooth brown bottle.",
+    "Lift the smooth red cylindrical bottle and the smooth brown bottle with separate arms.",
+    "Grab the red bottle with curved grooves using one arm and the bottle with white cap using the other.",
+    "Hold both the plastic bottle and the bottle with brown body and white top.",
+    "Hold onto the smooth red cylindrical bottle and then get the plastic bottle with printed label.",
+    "Hold the plastic bottle with bright red color with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Pick up the medium-size plastic bottle and then pick up the bottle with brown body and white top.",
+    "Catch both the red bottle with screw cap and the medium bottle with smooth texture quickly.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the rounded bottle with printed details.",
+    "Grab the red bottle with screw cap with one arm, the bottle with brown body and white top with the other.",
+    "Lift the red bottle, continue and pick up the plastic bottle for liquids.",
+    "Pick both the plastic bottle with bright red color and the medium bottle with smooth texture one after another.",
+    "Collect the handheld plastic bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Use one arm for the yellow text bottle and the other for the smooth brown bottle.",
+    "Grab the red bottle with white bottom text, pick up the cylindrical bottle with narrow neck.",
+    "Take hold of the red bottle with curved grooves and the bottle with dark brown color.",
+    "Assign one arm to catch the handheld plastic bottle, one for the bottle with dark brown color.",
+    "With both arms, pick up the handheld plastic bottle, then the white-capped brown cylindrical bottle.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the handheld brown bottle with white lid.",
+    "Catch the handheld plastic bottle, then grab the plastic bottle with printed label too.",
+    "Secure the smooth red cylindrical bottle and the bottle with dark brown color in succession.",
+    "Use each arm to lift the handheld plastic bottle and the cylindrical bottle with narrow neck.",
+    "Grasp the plastic bottle with bright red color first, then take the cylindrical bottle with narrow neck.",
+    "Catch the smooth red cylindrical bottle with one arm, the plastic bottle with printed label with another arm.",
+    "Use one arm for the red bottle with screw cap, the other for the bottle with dark brown color.",
+    "Catch the medium-size plastic bottle, then take hold of the medium plastic bottle.",
+    "Each arm should pick up one: the plastic bottle, then the medium bottle with smooth texture.",
+    "Pick up the medium-size plastic bottle, then pick up the rounded bottle with printed details.",
+    "Use one arm for the plastic bottle, another for the medium plastic bottle.",
+    "Catch the handheld plastic bottle, grab the plastic bottle for liquids next.",
+    "One arm grabs the plastic bottle; the other arm grabs the white-capped brown cylindrical bottle.",
+    "Pick up both the red bottle with screw cap and the cylindrical bottle with narrow neck together.",
+    "Lift the red bottle with narrow neck and also take hold of the plastic bottle for liquids.",
+    "Hold the bottle with red cap in one arm, the plastic bottle for liquids in the other.",
+    "With two arms, catch both the red bottle with white bottom text and the medium plastic bottle.",
+    "Hold onto the handheld plastic bottle, then pick up the plastic bottle with printed label.",
+    "Catch the bottle with red cap in one arm and the smooth brown bottle in the other arm.",
+    "Grab the bottle with red cap using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Secure the bottle with red cap, then secure the plastic bottle with printed label.",
+    "Pick up both the bottle with red cap and the bottle with brown body and white top.",
+    "Let each arm grab either the plastic bottle or the rounded bottle with printed details.",
+    "Lift both the plastic bottle and the handheld brown bottle with white lid simultaneously.",
+    "Catch the smooth red cylindrical bottle, then catch the rounded bottle with printed details.",
+    "Hold the bottle with red cap in one arm, catch the bottle with white cap with the other arm.",
+    "Secure both the medium-size plastic bottle and the bottle with brown body and white top quickly.",
+    "Grab the plastic bottle with bright red color and pick up the smooth brown bottle.",
+    "Use both arms to lift the red bottle with narrow neck and the smooth brown bottle.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the bottle with white cap with the other.",
+    "Grab the red bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Assign one arm to each of the red bottle with curved grooves and the smooth brown bottle.",
+    "Grab and hold the medium-size plastic bottle, then grab the white-capped brown cylindrical bottle.",
+    "Lift the yellow text bottle and the handheld brown bottle with white lid with separate arms.",
+    "Grab the plastic bottle using one arm and the bottle with white cap using the other.",
+    "Hold both the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Hold onto the red bottle with curved grooves and then get 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.",
+    "Pick up the red bottle with narrow neck and then pick up the bottle with brown body and white top.",
+    "Catch both the red bottle with screw cap and the plastic bottle for liquids quickly.",
+    "Use both arms to pick up the handheld plastic bottle and the plastic bottle for liquids.",
+    "Grab the red bottle with narrow neck with one arm, the medium bottle with smooth texture with the other.",
+    "Lift the medium-size plastic bottle, continue and pick up the bottle with white cap.",
+    "Pick both the red bottle with curved grooves and the plastic bottle with printed label one after another.",
+    "Collect the yellow text bottle, then pick up the bottle with white cap.",
+    "Use one arm for the bottle with red cap and the other for the plastic bottle with printed label.",
+    "Grab the red bottle, pick up the white-capped brown cylindrical bottle.",
+    "Take hold of the red bottle with curved grooves and the medium plastic bottle.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the medium plastic bottle.",
+    "With both arms, pick up the red bottle with narrow neck, then the plastic bottle for liquids.",
+    "Use both arms to pick up the red bottle with white bottom text and the medium plastic bottle.",
+    "Catch the bottle with red cap, then grab the plastic bottle for liquids too.",
+    "Secure the handheld plastic bottle and the handheld brown bottle with white lid in succession.",
+    "Use each arm to lift the red bottle with narrow neck and the white-capped brown cylindrical bottle.",
+    "Grasp the plastic bottle with bright red color first, then take the bottle with white cap.",
+    "Catch the yellow text bottle with one arm, the smooth brown bottle with another arm.",
+    "Use one arm for the red bottle with narrow neck, the other for the handheld brown bottle with white lid.",
+    "Catch the red bottle with white bottom text, then take hold of the cylindrical bottle with narrow neck.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the bottle with dark brown color.",
+    "Pick up the medium-size plastic bottle, then pick up the bottle with brown body and white top.",
+    "Use one arm for the bottle with red cap, another for the rounded bottle with printed details.",
+    "Catch the red bottle with curved grooves, grab the bottle with brown body and white top next.",
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the cylindrical bottle with narrow neck.",
+    "Pick up both the bottle with red cap and the handheld brown bottle with white lid together.",
+    "Lift the red bottle with white bottom text and also take hold of the plastic bottle for liquids.",
+    "Hold the plastic bottle in one arm, the bottle with white cap in the other.",
+    "With two arms, catch both the red bottle with white bottom text and the smooth brown bottle.",
+    "Hold onto the bottle with red cap, then pick up the rounded bottle with printed details.",
+    "Catch the plastic bottle with bright red color in one arm and the rounded bottle with printed details in the other arm.",
+    "Grab the medium-size plastic bottle using an arm and the smooth brown bottle with the other arm."
+  ],
+  "unseen": [
+    "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 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.",
+    "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.",
+    "Pick up both 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 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 bottle with white and yellow label and the brown bottle.",
+    "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.",
+    "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 lightweight plastic brown bottle together.",
+    "Grab 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 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.",
+    "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.",
+    "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.",
+    "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 cylindrical bottle with label together.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other.",
+    "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 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.",
+    "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 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 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.",
+    "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 white and yellow label 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 and the brown bottle together.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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 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.",
+    "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 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 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 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.",
+    "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 bottle using the other.",
+    "Grab the bottle with white and yellow label 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 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.",
+    "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.",
+    "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.",
+    "Pick up 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 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.",
+    "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.",
+    "Pick up both 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 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.",
+    "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 cylindrical bottle with label 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 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.",
+    "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 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 shiny red bottle and the lightweight plastic brown bottle.",
+    "Pick up 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.",
+    "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.",
+    "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 white and yellow label 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.",
+    "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."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Each arm should pick up one: the bottle with red cap, then the cylindrical bottle with narrow neck.",
+    "Collect the bottle with red cap, then pick up the rounded bottle with printed details.",
+    "Grasp the yellow text bottle first, then take the bottle with white cap.",
+    "Catch the plastic bottle, grab the bottle with dark brown color next.",
+    "Secure the red bottle, then secure the bottle with dark brown color.",
+    "Lift the red bottle with screw cap and also take hold of the bottle with dark brown color.",
+    "Use both arms to pick up the bottle with red cap and the bottle with brown body and white top.",
+    "Catch the red bottle with white bottom text, then grab the bottle with dark brown color too.",
+    "Hold both the medium-size plastic bottle and the handheld brown bottle with white lid.",
+    "Use one arm for the red bottle with white bottom text, another for the bottle with brown body and white top.",
+    "Grab the plastic bottle and pick up the plastic bottle with printed label.",
+    "Lift the red bottle, continue and pick up the plastic bottle with printed label.",
+    "Take hold of the red bottle with screw cap and the medium plastic bottle.",
+    "Hold onto the medium-size plastic bottle and then get the cylindrical bottle with narrow neck.",
+    "Use both arms to lift the bottle with red cap and the plastic bottle with printed label.",
+    "Lift both the red bottle with screw cap and the handheld brown bottle with white lid simultaneously.",
+    "Secure the handheld plastic bottle and the cylindrical bottle with narrow neck in succession.",
+    "Grab the medium-size plastic bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Use each arm to lift the smooth red cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Pick both the red bottle with white bottom text and the medium bottle with smooth texture one after another.",
+    "Hold the bottle with red cap with one arm, hold the plastic bottle for liquids with the other.",
+    "Catch the handheld plastic bottle with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Hold the bottle with red cap in one arm, the medium bottle with smooth texture in the other.",
+    "Assign one arm to catch the medium-size plastic bottle, one for the rounded bottle with printed details.",
+    "Grab the bottle with red cap using one arm and the medium plastic bottle using the other.",
+    "One arm grabs the plastic bottle; the other arm grabs the handheld brown bottle with white lid.",
+    "Pick up both the smooth red cylindrical bottle and the white-capped brown cylindrical bottle together.",
+    "Let each arm grab either the red bottle or the plastic bottle with printed label.",
+    "With both arms, pick up the handheld plastic bottle, then the rounded bottle with printed details.",
+    "Catch the red bottle with curved grooves, then catch the plastic bottle for liquids.",
+    "Lift the smooth red cylindrical bottle and the bottle with dark brown color with separate arms.",
+    "Use one arm for the plastic bottle with bright red color and the other for the plastic bottle for liquids.",
+    "With two arms, catch both the plastic bottle and the plastic bottle with printed label.",
+    "Assign one arm to each of the red bottle with white bottom text and the smooth brown bottle.",
+    "Pick up the plastic bottle with bright red color and then pick up the smooth brown bottle.",
+    "Grab the red bottle with narrow neck with one arm, the medium plastic bottle with the other.",
+    "Use both arms to pick up the handheld plastic bottle and the white-capped brown cylindrical bottle.",
+    "Catch the medium-size plastic bottle, then take hold of the medium bottle with smooth texture.",
+    "Secure both the red bottle with screw cap and the white-capped brown cylindrical bottle quickly.",
+    "Pick up the yellow text bottle, then pick up the plastic bottle for liquids.",
+    "Hold onto the medium-size plastic bottle, then pick up the smooth brown bottle.",
+    "Catch the bottle with red cap in one arm and the medium plastic bottle in the other arm.",
+    "Grab the plastic 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 dark brown color.",
+    "Grab the handheld plastic bottle, pick up the smooth brown bottle.",
+    "Use one arm for the red bottle with white bottom text, the other for the white-capped brown cylindrical bottle.",
+    "Grab and hold the red bottle with narrow neck, then grab the bottle with dark brown color.",
+    "Hold the red bottle with white bottom text in one arm, catch the bottle with dark brown color with the other arm.",
+    "Catch both the smooth red cylindrical bottle and the white-capped brown cylindrical bottle quickly.",
+    "Lift both bottles, the red bottle with one arm, the smooth brown bottle with the other.",
+    "Each arm should pick up one: the yellow text bottle, then the bottle with brown body and white top.",
+    "Collect the handheld plastic bottle, then pick up the bottle with brown body and white top.",
+    "Grasp the smooth red cylindrical bottle first, then take the handheld brown bottle with white lid.",
+    "Catch the handheld plastic bottle, grab the plastic bottle with printed label next.",
+    "Secure the yellow text bottle, then secure the smooth brown bottle.",
+    "Lift the red bottle with white bottom text and also take hold of the rounded bottle with printed details.",
+    "Use both arms to pick up the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Catch the plastic bottle, then grab the cylindrical bottle with narrow neck too.",
+    "Hold both the red bottle with white bottom text and the bottle with brown body and white top.",
+    "Use one arm for the red bottle with curved grooves, another for the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with narrow neck and pick up the plastic bottle with printed label.",
+    "Lift the red bottle with narrow neck, continue and pick up the plastic bottle with printed label.",
+    "Take hold of the red bottle with curved grooves and the bottle with dark brown color.",
+    "Hold onto the yellow text bottle and then get the medium bottle with smooth texture.",
+    "Use both arms to lift the red bottle with curved grooves and the handheld brown bottle with white lid.",
+    "Lift both the bottle with red cap and the smooth brown bottle simultaneously.",
+    "Secure the red bottle with screw cap and the cylindrical bottle with narrow neck in succession.",
+    "Grab the handheld plastic bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Use each arm to lift the bottle with red cap and the plastic bottle for liquids.",
+    "Pick both the red bottle with narrow neck and the bottle with brown body and white top one after another.",
+    "Hold the handheld plastic bottle with one arm, hold the plastic bottle with printed label with the other.",
+    "Catch the red bottle with narrow neck with one arm, the plastic bottle for liquids with another arm.",
+    "Hold the yellow text bottle in one arm, the bottle with brown body and white top in the other.",
+    "Assign one arm to catch the red bottle, one for the smooth brown bottle.",
+    "Grab the red bottle with screw cap using one arm and the plastic bottle with printed label using the other.",
+    "One arm grabs the bottle with red cap; the other arm grabs the plastic bottle with printed label.",
+    "Pick up both the red bottle with curved grooves and the cylindrical bottle with narrow neck together.",
+    "Let each arm grab either the handheld plastic bottle or the bottle with dark brown color.",
+    "With both arms, pick up the red bottle, then the medium plastic bottle.",
+    "Catch the red bottle with white bottom text, then catch the medium bottle with smooth texture.",
+    "Lift the red bottle with narrow neck and the medium plastic bottle with separate arms.",
+    "Use one arm for the plastic bottle and the other for the medium plastic bottle.",
+    "With two arms, catch both the plastic bottle with bright red color and the smooth brown bottle.",
+    "Assign one arm to each of the medium-size plastic bottle and the handheld brown bottle with white lid.",
+    "Pick up the red bottle with curved grooves and then pick up the plastic bottle for liquids.",
+    "Grab the plastic bottle with bright red color with one arm, the bottle with white cap with the other.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the plastic bottle with printed label.",
+    "Catch the bottle with red cap, then take hold of the medium plastic bottle.",
+    "Secure both the red bottle with screw cap and the cylindrical bottle with narrow neck quickly.",
+    "Pick up the handheld plastic bottle, then pick up the bottle with white cap.",
+    "Hold onto the red bottle, then pick up the bottle with white cap.",
+    "Catch the medium-size plastic bottle in one arm and the white-capped brown cylindrical bottle in the other arm.",
+    "Grab the handheld plastic bottle using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Pick up both the handheld plastic bottle and the handheld brown bottle with white lid.",
+    "Grab the red bottle with narrow neck, pick up the plastic bottle for liquids.",
+    "Use one arm for the handheld plastic bottle, the other for the medium plastic bottle.",
+    "Grab and hold the red bottle with screw cap, then grab the plastic bottle with printed label.",
+    "Hold the red bottle in one arm, catch the bottle with white cap with the other arm.",
+    "Catch both the red bottle with narrow neck and the handheld brown bottle with white lid quickly.",
+    "Lift both bottles, the plastic bottle with one arm, the medium plastic bottle with the other."
+  ],
+  "unseen": [
+    "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 grab the bottle with white and yellow label 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.",
+    "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.",
+    "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 cylindrical bottle with label at once.",
+    "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 yellow Chinese characters, 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 lightweight plastic brown bottle at the same time.",
+    "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 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 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.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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 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.",
+    "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 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.",
+    "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.",
+    "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 brown cylindrical bottle with label 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 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.",
+    "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.",
+    "Grab the bottle with yellow Chinese characters and grab the brown bottle at once.",
+    "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.",
+    "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 bottle at the same time.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 shiny red bottle and the 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 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 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 lightweight plastic brown bottle at once.",
+    "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 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.",
+    "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 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 both the shiny red bottle 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 shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "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.",
+    "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 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 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 and grab the brown bottle at once.",
+    "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 brown bottle.",
+    "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.",
+    "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 bottle with yellow Chinese characters 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 white and yellow label using one arm and lift the brown bottle using 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 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."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift both bottles, the red bottle with curved grooves with one arm, the bottle with dark brown color with the other.",
+    "Lift the bottle with red cap, continue and pick up the plastic bottle with printed label.",
+    "Hold both the handheld plastic bottle and the smooth brown bottle.",
+    "Lift the red bottle with curved grooves and also take hold of the bottle with white cap.",
+    "Grab and hold the medium-size plastic bottle, then grab 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.",
+    "Use both arms to pick up the red bottle with screw cap and the medium plastic bottle.",
+    "Pick up the bottle with red cap and then pick up the bottle with dark brown color.",
+    "Catch the red bottle with curved grooves, grab the white-capped brown cylindrical bottle next.",
+    "Pick up the plastic bottle with bright red color, then pick up the bottle with dark brown color.",
+    "Catch the smooth red cylindrical bottle in one arm and the smooth brown bottle in the other arm.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the medium bottle with smooth texture.",
+    "Pick up both the red bottle with white bottom text and the smooth brown bottle.",
+    "Hold the red bottle with curved grooves in one arm, the rounded bottle with printed details in the other.",
+    "Catch the yellow text bottle, then take hold of the smooth brown bottle.",
+    "Grasp the red bottle first, then take the rounded bottle with printed details.",
+    "Use one arm for the red bottle with narrow neck and the other for the white-capped brown cylindrical bottle.",
+    "Let each arm grab either the bottle with red cap or the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with narrow neck with one arm, the smooth brown bottle with the other.",
+    "With two arms, catch both the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Take hold of the red bottle with screw cap and the plastic bottle for liquids.",
+    "Catch the medium-size plastic bottle with one arm, the medium bottle with smooth texture with another arm.",
+    "Use both arms to lift the red bottle with screw cap and the bottle with white cap.",
+    "Pick both the plastic bottle with bright red color and the medium plastic bottle one after another.",
+    "Lift both the red bottle with screw cap and the white-capped brown cylindrical bottle simultaneously.",
+    "Catch the red bottle, then catch the plastic bottle for liquids.",
+    "Hold the red bottle with screw cap with one arm, hold the bottle with brown body and white top with the other.",
+    "Secure both the medium-size plastic bottle and the rounded bottle with printed details quickly.",
+    "Use one arm for the smooth red cylindrical bottle, another for the medium plastic bottle.",
+    "Secure the red bottle with narrow neck, then secure the white-capped brown cylindrical bottle.",
+    "Pick up both the plastic bottle and the cylindrical bottle with narrow neck together.",
+    "Grab the smooth red cylindrical bottle using an arm and the plastic bottle with printed label with the other arm.",
+    "Grab the yellow text bottle with one arm, the bottle with brown body and white top with the other.",
+    "Catch the plastic bottle with bright red color, then grab the medium bottle with smooth texture too.",
+    "Secure the red bottle with white bottom text and the bottle with brown body and white top in succession.",
+    "Grab the red bottle with curved grooves using one arm and the smooth brown bottle using the other.",
+    "Hold onto the red bottle with curved grooves and then get the rounded bottle with printed details.",
+    "Use each arm to lift the handheld plastic bottle and the smooth brown bottle.",
+    "Hold the plastic bottle in one arm, catch the bottle with white cap with the other arm.",
+    "Grab the yellow text bottle and pick up the bottle with brown body and white top.",
+    "Assign one arm to catch the bottle with red cap, one for the medium bottle with smooth texture.",
+    "Grab the red bottle, pick up the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the red bottle, then the bottle with brown body and white top.",
+    "Assign one arm to each of the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Catch both the medium-size plastic bottle and the medium bottle with smooth texture quickly.",
+    "Each arm should pick up one: the handheld plastic bottle, then the medium plastic bottle.",
+    "Hold onto the yellow text bottle, then 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.",
+    "Lift the plastic bottle with bright red color and the smooth brown bottle with separate arms.",
+    "Collect the red bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the plastic bottle for liquids with the other.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the plastic bottle with printed label.",
+    "Hold both the yellow text bottle and the medium plastic bottle.",
+    "Lift the smooth red cylindrical bottle and also take hold of the medium bottle with smooth texture.",
+    "Grab and hold the red bottle with curved grooves, then grab the plastic bottle with printed label.",
+    "Use both arms to pick up the yellow text bottle and the bottle with brown body and white top.",
+    "Use both arms to pick up the plastic bottle and the plastic bottle for liquids.",
+    "Pick up the red bottle with screw cap and then pick up the medium plastic bottle.",
+    "Catch the medium-size plastic bottle, grab the plastic bottle with printed label next.",
+    "Pick up the red bottle with white bottom text, then pick up the plastic bottle for liquids.",
+    "Catch the red bottle with white bottom text in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "One arm grabs the plastic bottle; the other arm grabs the bottle with brown body and white top.",
+    "Pick up both the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Hold the handheld plastic bottle in one arm, the smooth brown bottle in the other.",
+    "Catch the plastic bottle with bright red color, then take hold of the white-capped brown cylindrical bottle.",
+    "Grasp the plastic bottle with bright red color first, then take the bottle with brown body and white top.",
+    "Use one arm for the red bottle with narrow neck and the other for the smooth brown bottle.",
+    "Let each arm grab either the red bottle with narrow neck or the bottle with brown body and white top.",
+    "Grab the plastic bottle with one arm, the plastic bottle for liquids with the other.",
+    "With two arms, catch both the red bottle with white bottom text and the bottle with white cap.",
+    "Take hold of the plastic bottle and the bottle with brown body and white top.",
+    "Catch the yellow text bottle with one arm, the cylindrical bottle with narrow neck with another arm.",
+    "Use both arms to lift the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Pick both the yellow text bottle and the bottle with dark brown color one after another.",
+    "Lift both the handheld plastic bottle and the medium bottle with smooth texture simultaneously.",
+    "Catch the bottle with red cap, then catch the handheld brown bottle with white lid.",
+    "Hold the red bottle with curved grooves with one arm, hold the bottle with white cap with the other.",
+    "Secure both the red bottle with screw cap and the medium bottle with smooth texture quickly.",
+    "Use one arm for the bottle with red cap, another for the medium bottle with smooth texture.",
+    "Secure the plastic bottle, then secure the plastic bottle for liquids.",
+    "Pick up both the red bottle and the medium bottle with smooth texture together.",
+    "Grab the red bottle using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Grab the yellow text bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Catch the smooth red cylindrical bottle, then grab the medium bottle with smooth texture too.",
+    "Secure the handheld plastic bottle and the cylindrical bottle with narrow neck in succession.",
+    "Grab the bottle with red cap using one arm and the handheld brown bottle with white lid using the other.",
+    "Hold onto the red bottle with screw cap and then get the bottle with dark brown color.",
+    "Use each arm to lift the smooth red cylindrical bottle and the medium bottle with smooth texture.",
+    "Hold the plastic bottle in one arm, catch the bottle with white cap with the other arm.",
+    "Grab the smooth red cylindrical bottle and pick up the plastic bottle with printed label.",
+    "Assign one arm to catch the red bottle with narrow neck, one for the plastic bottle for liquids.",
+    "Grab the yellow text bottle, pick up the cylindrical bottle with narrow neck.",
+    "With both arms, pick up the yellow text bottle, then the bottle with white cap.",
+    "Assign one arm to each of the medium-size plastic bottle and the plastic bottle with printed label.",
+    "Catch both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck quickly.",
+    "Each arm should pick up one: the bottle with red cap, then the cylindrical bottle with narrow neck.",
+    "Hold onto the handheld plastic bottle, then pick up the plastic bottle with printed label.",
+    "Use one arm for the red bottle with white bottom text, the other for the medium plastic bottle.",
+    "Lift the red bottle with narrow neck and the white-capped brown cylindrical bottle with separate arms.",
+    "Collect the bottle with red cap, then pick up the bottle with dark brown color."
+  ],
+  "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 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 shiny red bottle 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 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 lightweight plastic 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 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 shiny red bottle 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 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.",
+    "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.",
+    "Pick up 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 and the brown cylindrical bottle with label 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 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.",
+    "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.",
+    "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.",
+    "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 lightweight plastic brown bottle at the same time.",
+    "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.",
+    "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 brown bottle at once.",
+    "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.",
+    "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 lightweight plastic 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.",
+    "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.",
+    "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.",
+    "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 brown cylindrical bottle with label with the other.",
+    "Pick up the shiny red bottle 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 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 white and yellow label and take the lightweight plastic brown bottle together.",
+    "Grab 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 both the bottle with white and yellow label 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 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.",
+    "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.",
+    "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.",
+    "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 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 lift a bottle: the bottle with yellow Chinese characters, 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.",
+    "Pick up 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 bottle with yellow Chinese characters 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 cylindrical bottle with label using the other.",
+    "Pick up the shiny red bottle 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.",
+    "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 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.",
+    "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.",
+    "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 brown cylindrical bottle with label using 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 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 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.",
+    "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 the brown cylindrical bottle with label together.",
+    "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.",
+    "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 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 grab the brown bottle at once.",
+    "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 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 brown cylindrical bottle with label 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.",
+    "Lift the bottle with yellow Chinese characters using one arm and lift the lightweight plastic brown bottle using the other."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Assign one arm to catch the red bottle, one for the smooth brown bottle.",
+    "Catch both the smooth red cylindrical bottle and the plastic bottle for liquids quickly.",
+    "Grab and hold the red bottle with curved grooves, then grab the smooth brown bottle.",
+    "Secure the red bottle with screw cap and the handheld brown bottle with white lid in succession.",
+    "Use one arm for the red bottle with narrow neck, another for the handheld brown bottle with white lid.",
+    "Grab the handheld plastic bottle, pick up the bottle with white cap.",
+    "Grab the red bottle with screw cap and pick up the plastic bottle for liquids.",
+    "Lift the bottle with red cap and also take hold of the cylindrical bottle with narrow neck.",
+    "Grab the red bottle using one arm and the smooth brown bottle using the other.",
+    "Catch the plastic bottle with one arm, the medium plastic bottle with another arm.",
+    "Take hold of the red bottle with curved grooves and the bottle with dark brown color.",
+    "Catch the red bottle, then catch the plastic bottle with printed label.",
+    "Secure both the red bottle with white bottom text and the cylindrical bottle with narrow neck quickly.",
+    "Hold the red bottle with narrow neck in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Use both arms to pick up the red bottle with curved grooves and the medium bottle with smooth texture.",
+    "Grab the plastic bottle using an arm and the rounded bottle with printed details with the other arm.",
+    "Catch the bottle with red cap, grab the plastic bottle with printed label next.",
+    "Catch the red bottle with screw cap, then take hold of the plastic bottle with printed label.",
+    "Pick up the red bottle, then pick up the plastic bottle with printed label.",
+    "Catch the smooth red cylindrical bottle, then grab the plastic bottle for liquids too.",
+    "Lift the plastic bottle with bright red color and the bottle with white cap with separate arms.",
+    "Assign one arm to each of the plastic bottle and the handheld brown bottle with white lid.",
+    "Use one arm for the yellow text bottle and the other for the medium plastic bottle.",
+    "Hold the bottle with red cap in one arm, the smooth brown bottle in the other.",
+    "Use both arms to pick up the plastic bottle and the bottle with dark brown color.",
+    "Use one arm for the red bottle with white bottom text, the other for the white-capped brown cylindrical bottle.",
+    "Lift the plastic bottle with bright red color, continue and pick up the medium plastic bottle.",
+    "Grab the red bottle with one arm, the plastic bottle with printed label with the other.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the bottle with dark brown color with the other.",
+    "Let each arm grab either the red bottle with white bottom text or the medium plastic bottle.",
+    "Each arm should pick up one: the red bottle, then the plastic bottle with printed label.",
+    "Pick both the bottle with red cap and the medium bottle with smooth texture one after another.",
+    "Lift both the handheld plastic bottle and the bottle with brown body and white top simultaneously.",
+    "Grab the plastic bottle with bright red color with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Use each arm to lift the smooth red cylindrical bottle and the bottle with white cap.",
+    "Pick up the handheld plastic bottle and then pick up the bottle with white cap.",
+    "With two arms, catch both the red bottle with narrow neck and the plastic bottle for liquids.",
+    "Secure the bottle with red cap, then secure the plastic bottle for liquids.",
+    "Pick up both the bottle with red cap and the medium bottle with smooth texture together.",
+    "Catch the red bottle with curved grooves in one arm and the bottle with white cap in the other arm.",
+    "One arm grabs the red bottle with screw cap; the other arm grabs the plastic bottle with printed label.",
+    "Hold onto the handheld plastic bottle, then pick up the bottle with white cap.",
+    "Collect the bottle with red cap, then pick up the medium bottle with smooth texture.",
+    "Hold onto the handheld plastic bottle and then get the bottle with brown body and white top.",
+    "Grasp the plastic bottle first, then take the handheld brown bottle with white lid.",
+    "With both arms, pick up the red bottle with narrow neck, then the white-capped brown cylindrical bottle.",
+    "Use both arms to lift the red bottle with white bottom text and the white-capped brown cylindrical bottle.",
+    "Pick up both the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "Hold both the red bottle and the smooth brown bottle.",
+    "Hold the red bottle with narrow neck with one arm, hold the smooth brown bottle with the other.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the bottle with white cap.",
+    "Catch both the red bottle with screw cap and the plastic bottle for liquids quickly.",
+    "Grab and hold the red bottle with curved grooves, then grab the plastic bottle with printed label.",
+    "Secure the plastic bottle and the bottle with white cap in succession.",
+    "Use one arm for the red bottle with white bottom text, another for the handheld brown bottle with white lid.",
+    "Grab the yellow text bottle, pick up the plastic bottle with printed label.",
+    "Grab the yellow text bottle and pick up the plastic bottle with printed label.",
+    "Lift the yellow text bottle and also take hold of the plastic bottle with printed label.",
+    "Grab the plastic bottle with bright red color using one arm and the medium bottle with smooth texture using the other.",
+    "Catch the red bottle with white bottom text with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Take hold of the plastic bottle with bright red color and the bottle with white cap.",
+    "Catch the red bottle with screw cap, then catch the bottle with brown body and white top.",
+    "Secure both the red bottle with white bottom text and the bottle with white cap quickly.",
+    "Hold the bottle with red cap in one arm, catch the bottle with dark brown color with the other arm.",
+    "Use both arms to pick up the medium-size plastic bottle and the bottle with white cap.",
+    "Grab the red bottle using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Catch the red bottle with screw cap, grab the cylindrical bottle with narrow neck next.",
+    "Catch the red bottle, then take hold of the rounded bottle with printed details.",
+    "Pick up the red bottle with narrow neck, then pick up the medium bottle with smooth texture.",
+    "Catch the red bottle with narrow neck, then grab the cylindrical bottle with narrow neck too.",
+    "Lift the yellow text bottle and the bottle with dark brown color with separate arms.",
+    "Assign one arm to each of the red bottle with screw cap and the bottle with dark brown color.",
+    "Use one arm for the handheld plastic bottle and the other for the plastic bottle with printed label.",
+    "Hold the plastic bottle in one arm, the rounded bottle with printed details in the other.",
+    "Use both arms to pick up the bottle with red cap and the plastic bottle for liquids.",
+    "Use one arm for the bottle with red cap, the other for the bottle with dark brown color.",
+    "Lift the plastic bottle with bright red color, continue and pick up the medium bottle with smooth texture.",
+    "Grab the plastic bottle with bright red color with one arm, the smooth brown bottle with the other.",
+    "Lift both bottles, the yellow text bottle with one arm, the medium plastic bottle with the other.",
+    "Let each arm grab either the red bottle or the plastic bottle with printed label.",
+    "Each arm should pick up one: the red bottle with curved grooves, then the smooth brown bottle.",
+    "Pick both the red bottle with narrow neck and the medium bottle with smooth texture one after another.",
+    "Lift both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "Grab the red bottle with screw cap with one arm, the medium plastic bottle with the other.",
+    "Use each arm to lift the red bottle with curved grooves and the medium plastic bottle.",
+    "Pick up the plastic bottle with bright red color and then pick up the bottle with dark brown color.",
+    "With two arms, catch both the handheld plastic bottle and the cylindrical bottle with narrow neck.",
+    "Secure the plastic bottle, then secure the medium plastic bottle.",
+    "Pick up both the smooth red cylindrical bottle and the rounded bottle with printed details together.",
+    "Catch the medium-size plastic bottle in one arm and the bottle with white cap in the other arm.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the bottle with white cap.",
+    "Hold onto the red bottle with curved grooves, then pick up the handheld brown bottle with white lid.",
+    "Collect the red bottle with screw cap, then pick up the plastic bottle for liquids.",
+    "Hold onto the red bottle with white bottom text and then get the medium bottle with smooth texture.",
+    "Grasp the handheld plastic bottle first, then take the plastic bottle for liquids.",
+    "With both arms, pick up the plastic bottle, then the smooth brown bottle.",
+    "Use both arms to lift the bottle with red cap and the plastic bottle for liquids.",
+    "Pick up both the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "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 with one arm, hold the plastic bottle for liquids with the other."
+  ],
+  "unseen": [
+    "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 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.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "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.",
+    "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 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.",
+    "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 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 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.",
+    "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.",
+    "Lift the bottle with white and yellow label 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.",
+    "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.",
+    "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 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 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.",
+    "Lift the bottle with white and yellow label 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.",
+    "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 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.",
+    "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 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 yellow Chinese characters using one arm and lift the brown bottle using 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.",
+    "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 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 bottle with yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "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 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 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.",
+    "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 shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up 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 cylindrical bottle with label using the other.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "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 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 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 bottle at once.",
+    "Pick up the shiny red bottle and the lightweight plastic 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.",
+    "Pick up both 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 cylindrical bottle with label.",
+    "Use each arm to grab the shiny red bottle 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 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.",
+    "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.",
+    "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.",
+    "Pick up both 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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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 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 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.",
+    "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 lightweight plastic brown bottle."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the red bottle, grab the smooth brown bottle next.",
+    "Use both arms to pick up the plastic bottle and the bottle with white cap.",
+    "Hold both the bottle with red cap and the handheld brown bottle with white lid.",
+    "Pick both the red bottle with white bottom text and the white-capped brown cylindrical bottle one after another.",
+    "Grab the red bottle with white bottom text using an arm and the rounded bottle with printed details with the other arm.",
+    "Use both arms to pick up the yellow text bottle and the bottle with brown body and white top.",
+    "Grab the handheld plastic bottle with one arm, the smooth brown bottle with the other.",
+    "Use each arm to lift the medium-size plastic bottle and the bottle with white cap.",
+    "Pick up both the handheld plastic bottle and the bottle with dark brown color.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the smooth brown bottle with the other.",
+    "Grab the red bottle, pick up the white-capped brown cylindrical bottle.",
+    "Take hold of the red bottle and the bottle with dark brown color.",
+    "Hold the red bottle with narrow neck in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Let each arm grab either the bottle with red cap or the plastic bottle with printed label.",
+    "Catch the red bottle with curved grooves, then catch the cylindrical bottle with narrow neck.",
+    "One arm grabs the red bottle; the other arm grabs the medium plastic bottle.",
+    "Catch the red bottle with screw cap in one arm and the plastic bottle for liquids in the other arm.",
+    "With two arms, catch both the red bottle with curved grooves and the plastic bottle with printed label.",
+    "Grab the plastic bottle and pick up the rounded bottle with printed details.",
+    "Lift both the plastic bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "Catch both the red bottle with narrow neck and the cylindrical bottle with narrow neck quickly.",
+    "Pick up the red bottle with curved grooves and then pick up the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with white bottom text, then grab the handheld brown bottle with white lid too.",
+    "Catch the medium-size plastic bottle with one arm, the smooth brown bottle with another arm.",
+    "Lift the red bottle and also take hold of the bottle with dark brown color.",
+    "Grab and hold the red bottle with narrow neck, then grab the plastic bottle for liquids.",
+    "Pick up the plastic bottle with bright red color, then pick up the medium bottle with smooth texture.",
+    "Lift the plastic bottle with bright red color, continue and pick up the smooth brown bottle.",
+    "Use one arm for the red bottle with narrow neck and the other for the bottle with white cap.",
+    "Hold onto the bottle with red cap, then pick up the bottle with dark brown color.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the smooth brown bottle with the other.",
+    "Each arm should pick up one: the red bottle with curved grooves, then the smooth brown bottle.",
+    "Hold onto the red bottle with narrow neck and then get the bottle with brown body and white top.",
+    "Catch the red bottle with curved grooves, then take hold of the bottle with dark brown color.",
+    "Secure the red bottle with screw cap and the bottle with dark brown color in succession.",
+    "Hold the smooth red cylindrical bottle in one arm, the rounded bottle with printed details in the other.",
+    "Grasp the red bottle with narrow neck first, then take the plastic bottle for liquids.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the white-capped brown cylindrical bottle.",
+    "Collect the red bottle with white bottom text, then pick up the cylindrical bottle with narrow neck.",
+    "With both arms, pick up the red bottle with screw cap, then the plastic bottle for liquids.",
+    "Secure the handheld plastic bottle, then secure the bottle with brown body and white top.",
+    "Grab the handheld plastic bottle using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Grab the plastic bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Assign one arm to each of the red bottle with narrow neck and the smooth brown bottle.",
+    "Use one arm for the yellow text bottle, another for the smooth brown bottle.",
+    "Use one arm for the handheld plastic bottle, the other for the cylindrical bottle with narrow neck.",
+    "Lift the red bottle with narrow neck and the cylindrical bottle with narrow neck with separate arms.",
+    "Use both arms to lift the plastic bottle with bright red color and the handheld brown bottle with white lid.",
+    "Pick up both the red bottle with white bottom text and the white-capped brown cylindrical bottle together.",
+    "Secure both the bottle with red cap and the rounded bottle with printed details quickly.",
+    "Catch the plastic bottle, grab the plastic bottle with printed label next.",
+    "Use both arms to pick up the red bottle with narrow neck and the plastic bottle with printed label.",
+    "Hold both the red bottle with narrow neck and the plastic bottle with printed label.",
+    "Pick both the yellow text bottle and the bottle with dark brown color one after another.",
+    "Grab the bottle with red cap using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Use both arms to pick up the bottle with red cap and the white-capped brown cylindrical bottle.",
+    "Grab the plastic bottle with bright red color with one arm, the medium plastic bottle with the other.",
+    "Use each arm to lift the smooth red cylindrical bottle and the bottle with white cap.",
+    "Pick up both the red bottle and the medium bottle with smooth texture.",
+    "Hold the plastic bottle with one arm, hold the smooth brown bottle with the other.",
+    "Grab the red bottle with screw cap, pick up the handheld brown bottle with white lid.",
+    "Take hold of the bottle with red cap and the bottle with dark brown color.",
+    "Hold the red bottle in one arm, catch the white-capped brown cylindrical bottle with the other arm.",
+    "Let each arm grab either the smooth red cylindrical bottle or the rounded bottle with printed details.",
+    "Catch the red bottle with white bottom text, then catch the bottle with white cap.",
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the medium bottle with smooth texture.",
+    "Catch the red bottle with white bottom text in one arm and the plastic bottle for liquids in the other arm.",
+    "With two arms, catch both the red bottle with screw cap and the bottle with white cap.",
+    "Grab the red bottle with screw cap and pick up the handheld brown bottle with white lid.",
+    "Lift both the plastic bottle and the smooth brown bottle simultaneously.",
+    "Catch both the smooth red cylindrical bottle and the medium plastic bottle quickly.",
+    "Pick up the red bottle with narrow neck and then pick up the bottle with white cap.",
+    "Catch the red bottle with screw cap, then grab the bottle with white cap too.",
+    "Catch the red bottle with curved grooves with one arm, the handheld brown bottle with white lid with another arm.",
+    "Lift the handheld plastic bottle and also take hold of the white-capped brown cylindrical bottle.",
+    "Grab and hold the medium-size plastic bottle, then grab the handheld brown bottle with white lid.",
+    "Pick up the red bottle with screw cap, then pick up the bottle with dark brown color.",
+    "Lift the yellow text bottle, continue and pick up the plastic bottle with printed label.",
+    "Use one arm for the plastic bottle with bright red color and the other for the smooth brown bottle.",
+    "Hold onto the yellow text bottle, then pick up the rounded bottle with printed details.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the bottle with brown body and white top with the other.",
+    "Each arm should pick up one: the red bottle, then the medium plastic bottle.",
+    "Hold onto the medium-size plastic bottle and then get the rounded bottle with printed details.",
+    "Catch the plastic bottle with bright red color, then take hold of the smooth brown bottle.",
+    "Secure the yellow text bottle and the white-capped brown cylindrical bottle in succession.",
+    "Hold the plastic bottle in one arm, the smooth brown bottle in the other.",
+    "Grasp the red bottle with screw cap first, then take the white-capped brown cylindrical bottle.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the medium plastic bottle.",
+    "Collect the plastic bottle, then pick up the bottle with brown body and white top.",
+    "With both arms, pick up the red bottle, then the medium bottle with smooth texture.",
+    "Secure the plastic bottle with bright red color, then secure the medium plastic bottle.",
+    "Grab the red bottle with curved grooves using one arm and the bottle with brown body and white top using the other.",
+    "Grab the red bottle with white bottom text with one arm, the bottle with white cap with the other.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the bottle with dark brown color.",
+    "Use one arm for the medium-size plastic bottle, another for the medium bottle with smooth texture.",
+    "Use one arm for the red bottle with narrow neck, the other for the plastic bottle with printed label.",
+    "Lift the red bottle and the rounded bottle with printed details with separate arms.",
+    "Use both arms to lift the yellow text bottle and the smooth brown bottle.",
+    "Pick up both the red bottle with white bottom text and the bottle with white cap together.",
+    "Secure both the medium-size plastic bottle and the white-capped brown cylindrical bottle quickly."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "Pick up both 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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 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 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.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 brown bottle with the other.",
+    "Pick up both 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.",
+    "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 lightweight plastic brown bottle 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.",
+    "Use each arm to grab the bottle with yellow Chinese characters 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 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.",
+    "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.",
+    "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 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 the 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 lightweight plastic brown bottle 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 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.",
+    "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 shiny red bottle 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 lightweight plastic brown bottle together.",
+    "Use each arm to grab the bottle with yellow Chinese characters 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 shiny red bottle, 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.",
+    "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.",
+    "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.",
+    "Pick up 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 brown bottle together.",
+    "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.",
+    "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.",
+    "Pick up both the bottle with white and yellow label and the brown bottle together.",
+    "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 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.",
+    "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.",
+    "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 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 lightweight plastic brown bottle together.",
+    "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 lightweight plastic brown bottle at once.",
+    "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.",
+    "Pick up the shiny red bottle and the brown bottle together."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure both the red bottle with curved grooves and the plastic bottle for liquids quickly.",
+    "Hold the plastic bottle in one arm, catch the rounded bottle with printed details with the other arm.",
+    "Hold the plastic bottle with bright red color in one arm, the medium bottle with smooth texture in the other.",
+    "Grab the bottle with red cap using one arm and the rounded bottle with printed details using the other.",
+    "Grab the plastic bottle with bright red color with one arm, the medium plastic bottle with the other.",
+    "Catch both the yellow text bottle and the bottle with dark brown color quickly.",
+    "Catch the red bottle with screw cap, then catch the bottle with white cap.",
+    "Use each arm to lift the yellow text bottle and the smooth brown bottle.",
+    "Grab and hold the red bottle with screw cap, then grab the white-capped brown cylindrical bottle.",
+    "Lift the plastic bottle with bright red color, continue and pick up the plastic bottle for liquids.",
+    "Collect the red bottle with curved grooves, then pick up the plastic bottle with printed label.",
+    "Use one arm for the handheld plastic bottle, the other for the cylindrical bottle with narrow neck.",
+    "Grasp the red bottle with white bottom text first, then take the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the red bottle with white bottom text or the smooth brown bottle.",
+    "Pick up both the red bottle with curved grooves and the white-capped brown cylindrical bottle together.",
+    "Pick up both the smooth red cylindrical bottle and the medium plastic bottle.",
+    "Each arm should pick up one: the plastic bottle, then the medium plastic bottle.",
+    "Grab the red bottle using an arm and the rounded bottle with printed details with the other arm.",
+    "Hold onto the plastic bottle and then get the smooth brown bottle.",
+    "Use one arm for the red bottle with narrow neck and the other for the rounded bottle with printed details.",
+    "Use one arm for the plastic bottle with bright red color, another for the medium bottle with smooth texture.",
+    "Hold the yellow text bottle with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Catch the red bottle with narrow neck, grab the cylindrical bottle with narrow neck next.",
+    "Pick up the yellow text bottle and then pick up the plastic bottle for liquids.",
+    "Secure the red bottle with narrow neck, then secure the smooth brown bottle.",
+    "Lift the bottle with red cap and also take hold of the bottle with white cap.",
+    "Secure the red bottle with white bottom text and the medium bottle with smooth texture in succession.",
+    "Hold both the red bottle with curved grooves and the bottle with dark brown color.",
+    "Take hold of the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Use both arms to pick up the red bottle with curved grooves and the plastic bottle for liquids.",
+    "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 and pick up the smooth brown bottle.",
+    "Use both arms to lift the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Assign one arm to each of the red bottle with narrow neck and the rounded bottle with printed details.",
+    "Catch the red bottle with screw cap in one arm and the medium bottle with smooth texture in the other arm.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the plastic bottle for liquids.",
+    "With both arms, pick up the red bottle with curved grooves, then the bottle with brown body and white top.",
+    "Grab the yellow text bottle, pick up the bottle with white cap.",
+    "Hold onto the red bottle with white bottom text, then pick up the plastic bottle for liquids.",
+    "Grab the red bottle with white bottom text with one arm, the plastic bottle for liquids with the other.",
+    "Lift both the red bottle with curved grooves and the medium plastic bottle simultaneously.",
+    "Catch the plastic bottle with one arm, the handheld brown bottle with white lid with another arm.",
+    "Catch the red bottle with screw cap, then take hold of the smooth brown bottle.",
+    "Pick both the red bottle with white bottom text and the bottle with white cap one after another.",
+    "Use both arms to pick up the red bottle and the rounded bottle with printed details.",
+    "Lift the handheld plastic bottle and the smooth brown bottle with separate arms.",
+    "With two arms, catch both the red bottle with screw cap and the bottle with brown body and white top.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the cylindrical bottle with narrow neck.",
+    "Catch the medium-size plastic bottle, then grab the rounded bottle with printed details too.",
+    "Pick up the red bottle with white bottom text, then pick up the medium plastic bottle.",
+    "Secure both the bottle with red cap and the handheld brown bottle with white lid quickly.",
+    "Hold the bottle with red cap in one arm, catch the smooth brown bottle with the other arm.",
+    "Hold the yellow text bottle in one arm, the bottle with white cap in the other.",
+    "Grab the handheld plastic bottle using one arm and the rounded bottle with printed details using the other.",
+    "Grab the red bottle with screw cap with one arm, the bottle with brown body and white top with the other.",
+    "Catch both the red bottle with white bottom text and the handheld brown bottle with white lid quickly.",
+    "Catch the red bottle, then catch the medium bottle with smooth texture.",
+    "Use each arm to lift the medium-size plastic bottle and the white-capped brown cylindrical bottle.",
+    "Grab and hold the red bottle, then grab the smooth brown bottle.",
+    "Lift the red bottle with curved grooves, continue and pick up the bottle with white cap.",
+    "Collect the plastic bottle with bright red color, then pick up the cylindrical bottle with narrow neck.",
+    "Use one arm for the red bottle with narrow neck, the other for the plastic bottle with printed label.",
+    "Grasp the red bottle with curved grooves first, then take the medium bottle with smooth texture.",
+    "Let each arm grab either the red bottle with screw cap or the white-capped brown cylindrical bottle.",
+    "Pick up both the handheld plastic bottle and the cylindrical bottle with narrow neck together.",
+    "Pick up both the bottle with red cap and the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the red bottle with curved grooves, then the medium bottle with smooth texture.",
+    "Grab the red bottle with curved grooves using an arm and the bottle with brown body and white top with the other arm.",
+    "Hold onto the red bottle with narrow neck and then get the bottle with dark brown color.",
+    "Use one arm for the plastic bottle with bright red color and the other for the bottle with brown body and white top.",
+    "Use one arm for the plastic bottle, another for the medium plastic bottle.",
+    "Hold the red bottle with screw cap with one arm, hold the plastic bottle with printed label with the other.",
+    "Catch the red bottle with screw cap, grab the smooth brown bottle next.",
+    "Pick up the red bottle with narrow neck and then pick up the plastic bottle with printed label.",
+    "Secure the red bottle with white bottom text, then secure the bottle with dark brown color.",
+    "Lift the plastic bottle and also take hold of the handheld brown bottle with white lid.",
+    "Secure the red bottle with narrow neck and the bottle with dark brown color in succession.",
+    "Hold both the bottle with red cap and the bottle with brown body and white top.",
+    "Take hold of the handheld plastic bottle and the medium plastic bottle.",
+    "Use both arms to pick up the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Lift both bottles, the yellow text bottle with one arm, the medium plastic bottle with the other.",
+    "Grab the bottle with red cap and pick up the rounded bottle with printed details.",
+    "Use both arms to lift the bottle with red cap and the bottle with dark brown color.",
+    "Assign one arm to each of the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Catch the bottle with red cap in one arm and the medium plastic bottle in the other arm.",
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs the cylindrical bottle with narrow neck.",
+    "With both arms, pick up the yellow text bottle, then the rounded bottle with printed details.",
+    "Grab the red bottle with curved grooves, pick up the bottle with white cap.",
+    "Hold onto the medium-size plastic bottle, then pick up the smooth brown bottle.",
+    "Grab the red bottle with white bottom text with one arm, the plastic bottle for liquids with the other.",
+    "Lift both the yellow text bottle and the bottle with dark brown color simultaneously.",
+    "Catch the red bottle with narrow neck with one arm, the bottle with brown body and white top with another arm.",
+    "Catch the red bottle with screw cap, then take hold of the medium plastic bottle.",
+    "Pick both the red bottle with narrow neck and the smooth brown bottle one after another.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the plastic bottle for liquids.",
+    "Lift the red bottle with narrow neck and the smooth brown bottle with separate arms.",
+    "With two arms, catch both the handheld plastic bottle and the bottle with dark brown color.",
+    "Assign one arm to catch the handheld plastic bottle, one for the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with screw cap, then grab the rounded bottle with printed details too.",
+    "Pick up the smooth red cylindrical bottle, then pick up the medium plastic bottle."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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 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 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 and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle 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 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 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 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 yellow Chinese characters 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 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 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 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 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.",
+    "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 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 bottle at once.",
+    "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.",
+    "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 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 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 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 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 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.",
+    "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 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 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 shiny red bottle and grab the brown bottle at once.",
+    "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 bottle with the other.",
+    "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.",
+    "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 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 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 shiny red bottle 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.",
+    "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 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 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 shiny red bottle and the brown bottle at the same time.",
+    "Pick up 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.",
+    "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 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 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 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 shiny red bottle and 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 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 grab the brown bottle at once.",
+    "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 brown bottle with the other.",
+    "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.",
+    "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.",
+    "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.",
+    "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 lightweight plastic brown bottle at once.",
+    "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 cylindrical bottle with label with the other.",
+    "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 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.",
+    "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 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 and grab the brown cylindrical bottle with label at once."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the plastic bottle, then secure the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with curved grooves, then grab the bottle with dark brown color too.",
+    "Hold onto the plastic bottle with bright red color and then get the smooth brown bottle.",
+    "With two arms, catch both the red bottle with screw cap and the bottle with dark brown color.",
+    "Pick both the medium-size plastic bottle and the handheld brown bottle with white lid one after another.",
+    "Collect the red bottle with white bottom text, then pick up the cylindrical bottle with narrow neck.",
+    "Catch both the red bottle and the medium plastic bottle quickly.",
+    "Grab the medium-size plastic bottle and pick up the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with narrow neck, then catch the plastic bottle with printed label.",
+    "Use one arm for the yellow text bottle and the other for the bottle with brown body and white top.",
+    "Use both arms to pick up the red bottle with curved grooves and the plastic bottle for liquids.",
+    "Use both arms to lift the red bottle with screw cap and the bottle with white cap.",
+    "Use one arm for the bottle with red cap, the other for the bottle with white cap.",
+    "Use one arm for the red bottle, another for the medium bottle with smooth texture.",
+    "Secure the smooth red cylindrical bottle and the white-capped brown cylindrical bottle in succession.",
+    "Catch the red bottle with screw cap, grab the medium plastic bottle next.",
+    "Catch the red bottle with one arm, the medium plastic bottle with another arm.",
+    "Pick up both the red bottle with white bottom text and the rounded bottle with printed details together.",
+    "Lift the plastic bottle with bright red color and also take hold of the cylindrical bottle with narrow neck.",
+    "Grab the smooth red cylindrical bottle with one arm, the plastic bottle with printed label with the other.",
+    "With both arms, pick up the red bottle with curved grooves, then the plastic bottle with printed label.",
+    "Grab the red bottle with screw cap using an arm and the bottle with white cap with the other arm.",
+    "Assign one arm to each of the plastic bottle with bright red color and the plastic bottle for liquids.",
+    "Lift the red bottle with screw cap and the handheld brown bottle with white lid with separate arms.",
+    "Catch the bottle with red cap in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Hold the yellow text bottle in one arm, the bottle with white cap in the other.",
+    "Pick up both the bottle with red cap and the rounded bottle with printed details.",
+    "Grab and hold the medium-size plastic bottle, then grab the bottle with dark brown color.",
+    "Let each arm grab either the handheld plastic bottle or the medium bottle with smooth texture.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Use each arm to lift the plastic bottle and the plastic bottle for liquids.",
+    "Grab the medium-size plastic bottle with one arm, the bottle with dark brown color with the other.",
+    "Lift both the red bottle with curved grooves and the handheld brown bottle with white lid simultaneously.",
+    "Catch the red bottle with screw cap, then take hold of the plastic bottle for liquids.",
+    "Hold the red bottle with white bottom text in one arm, catch the smooth brown bottle with the other arm.",
+    "Use both arms to pick up the red bottle with narrow neck and the rounded bottle with printed details.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the bottle with brown body and white top.",
+    "Grab the bottle with red cap using one arm and the plastic bottle with printed label using the other.",
+    "Take hold of the red bottle with screw cap and the plastic bottle with printed label.",
+    "Hold onto the red bottle with white bottom text, then pick up the handheld brown bottle with white lid.",
+    "Pick up the smooth red cylindrical bottle, then pick up the bottle with dark brown color.",
+    "Assign one arm to catch the handheld plastic bottle, one for the cylindrical bottle with narrow neck.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the smooth brown bottle.",
+    "Secure both the red bottle with curved grooves and the cylindrical bottle with narrow neck quickly.",
+    "Hold both the red bottle with screw cap and the bottle with dark brown color.",
+    "Grasp the plastic bottle first, then take the bottle with dark brown color.",
+    "Lift the red bottle with narrow neck, continue and pick up the medium plastic bottle.",
+    "Pick up the red bottle and then pick up the smooth brown bottle.",
+    "Hold the red bottle with narrow neck with one arm, hold the medium bottle with smooth texture with the other.",
+    "Grab the red bottle with narrow neck, pick up the bottle with white cap.",
+    "Secure the red bottle with narrow neck, then secure the plastic bottle for liquids.",
+    "Catch the plastic bottle, then grab the bottle with dark brown color too.",
+    "Hold onto the red bottle and then get the handheld brown bottle with white lid.",
+    "With two arms, catch both the plastic bottle and the bottle with brown body and white top.",
+    "Pick both the smooth red cylindrical bottle and the medium bottle with smooth texture one after another.",
+    "Collect the plastic bottle with bright red color, then pick up the plastic bottle for liquids.",
+    "Catch both the handheld plastic bottle and the plastic bottle with printed label quickly.",
+    "Grab the plastic bottle with bright red color and pick up the bottle with white cap.",
+    "Catch the red bottle with curved grooves, then catch the bottle with brown body and white top.",
+    "Use one arm for the plastic bottle with bright red color and the other for the white-capped brown cylindrical bottle.",
+    "Use both arms to pick up the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "Use both arms to lift the red bottle with narrow neck and the rounded bottle with printed details.",
+    "Use one arm for the red bottle with narrow neck, the other for the cylindrical bottle with narrow neck.",
+    "Use one arm for the red bottle with narrow neck, another for the bottle with brown body and white top.",
+    "Secure the red bottle and the cylindrical bottle with narrow neck in succession.",
+    "Catch the red bottle with curved grooves, grab the plastic bottle for liquids next.",
+    "Catch the yellow text bottle with one arm, the plastic bottle for liquids with another arm.",
+    "Pick up both the red bottle and the plastic bottle with printed label together.",
+    "Lift the red bottle with white bottom text and also take hold of the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "With both arms, pick up the red bottle with curved grooves, then the handheld brown bottle with white lid.",
+    "Grab the medium-size plastic bottle using an arm and the plastic bottle with printed label with the other arm.",
+    "Assign one arm to each of the handheld plastic bottle and the handheld brown bottle with white lid.",
+    "Lift the red bottle with white bottom text and the bottle with brown body and white top with separate arms.",
+    "Catch the red bottle with curved grooves in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Hold the smooth red cylindrical bottle in one arm, the medium bottle with smooth texture in the other.",
+    "Pick up both the red bottle and the rounded bottle with printed details.",
+    "Grab and hold the plastic bottle, then grab the medium bottle with smooth texture.",
+    "Let each arm grab either the red bottle with screw cap or the handheld brown bottle with white lid.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the bottle with brown body and white top with the other.",
+    "Use each arm to lift the plastic bottle and the bottle with white cap.",
+    "Grab the medium-size plastic bottle with one arm, the medium plastic bottle with the other.",
+    "Lift both the plastic bottle with bright red color and the white-capped brown cylindrical bottle simultaneously.",
+    "Catch the handheld plastic bottle, then take hold of the cylindrical bottle with narrow neck.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Use both arms to pick up the red bottle with narrow neck 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 for liquids.",
+    "Grab the smooth red cylindrical bottle using one arm and the smooth brown bottle using the other.",
+    "Take hold of the red bottle with curved grooves and the bottle with white cap.",
+    "Hold onto the red bottle with curved grooves, then pick up the medium bottle with smooth texture.",
+    "Pick up the red bottle with white bottom text, then pick up the smooth brown bottle.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the plastic bottle with printed label.",
+    "Each arm should pick up one: the red bottle with screw cap, then the bottle with brown body and white top.",
+    "Secure both the red bottle with screw cap and the bottle with dark brown color quickly.",
+    "Hold both the smooth red cylindrical bottle and the white-capped brown cylindrical bottle.",
+    "Grasp the red bottle with screw cap first, then take the cylindrical bottle with narrow neck.",
+    "Lift the red bottle, continue and pick up the bottle with dark brown color.",
+    "Pick up the plastic bottle and then pick up the handheld brown bottle with white lid.",
+    "Hold the yellow text bottle with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Grab the smooth red cylindrical bottle, pick up the rounded bottle with printed details."
+  ],
+  "unseen": [
+    "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 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.",
+    "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 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.",
+    "Grab 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 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.",
+    "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 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 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 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 bottle together.",
+    "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 take the brown cylindrical bottle with label together.",
+    "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.",
+    "Pick up the shiny red bottle 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 bottle using the other.",
+    "Grab 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 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 take 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.",
+    "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 bottle with the other.",
+    "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 bottle with the other.",
+    "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 lightweight plastic 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 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 bottle with white and yellow label 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 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.",
+    "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.",
+    "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 take the lightweight plastic 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.",
+    "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 grab the lightweight plastic brown bottle at once.",
+    "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 cylindrical bottle with label using the other.",
+    "Grab the bottle with yellow Chinese characters 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.",
+    "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.",
+    "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 cylindrical bottle with label.",
+    "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 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.",
+    "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 lightweight plastic brown bottle together.",
+    "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.",
+    "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 brown cylindrical bottle with label.",
+    "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.",
+    "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 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 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.",
+    "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 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 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 with one arm, grab the brown bottle with the other.",
+    "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 lightweight plastic brown bottle.",
+    "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 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.",
+    "Pick up the bottle with yellow Chinese characters and the brown cylindrical bottle with label together.",
+    "Grab the shiny red bottle 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 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 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 lightweight plastic brown bottle."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the red bottle, another for the plastic bottle with printed label.",
+    "Catch the bottle with red cap, then take hold of the plastic bottle for liquids.",
+    "Hold the yellow text bottle in one arm, the white-capped brown cylindrical bottle in the other.",
+    "Grab the bottle with red cap with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Catch the medium-size plastic bottle, then grab the smooth brown bottle too.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the handheld brown bottle with white lid.",
+    "Lift both the handheld plastic bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "Grab the medium-size plastic bottle, pick up the smooth brown bottle.",
+    "Hold onto the plastic bottle, then pick up the bottle with dark brown color.",
+    "Grab the red bottle with screw cap using an arm and the medium bottle with smooth texture with the other arm.",
+    "Pick up the plastic bottle with bright red color and then pick up the bottle with white cap.",
+    "Grab the red bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Hold onto the red bottle with narrow neck and then get the bottle with white cap.",
+    "Pick up the bottle with red cap, then pick up the plastic bottle for liquids.",
+    "Catch the plastic bottle with bright red color with one arm, the smooth brown bottle with another arm.",
+    "Lift the red bottle with narrow neck and the rounded bottle with printed details with separate arms.",
+    "Use both arms to pick up the medium-size plastic bottle and the medium plastic bottle.",
+    "Hold the handheld plastic bottle with one arm, hold the bottle with dark brown color with the other.",
+    "Secure the medium-size plastic bottle and the bottle with brown body and white top in succession.",
+    "Use each arm to lift the bottle with red cap and the bottle with dark brown color.",
+    "Pick up both the red bottle with screw cap and the bottle with brown body and white top.",
+    "Catch the medium-size plastic bottle, grab the white-capped brown cylindrical bottle next.",
+    "Pick up both the red bottle with screw cap and the bottle with brown body and white top together.",
+    "Grab and hold the yellow text bottle, then grab the white-capped brown cylindrical bottle.",
+    "Lift the red bottle and also take hold of the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with curved grooves using one arm and the bottle with dark brown color using the other.",
+    "Catch both the smooth red cylindrical bottle and the white-capped brown cylindrical bottle quickly.",
+    "Catch the medium-size plastic bottle, then catch the medium plastic bottle.",
+    "Secure the red bottle, then secure the bottle with brown body and white top.",
+    "Use both arms to lift the red bottle with curved grooves and the bottle with dark brown color.",
+    "Lift the plastic bottle, continue and pick up the bottle with brown body and white top.",
+    "Pick both the red bottle and the white-capped brown cylindrical bottle one after another.",
+    "Assign one arm to each of the red bottle with white bottom text and the bottle with brown body and white top.",
+    "Lift both bottles, the red bottle with one arm, the plastic bottle for liquids with the other.",
+    "Take hold of the handheld plastic bottle and the handheld brown bottle with white lid.",
+    "Hold both the red bottle and the medium bottle with smooth texture.",
+    "Assign one arm to catch the yellow text bottle, one for the bottle with dark brown color.",
+    "Grab the red bottle and pick up the cylindrical bottle with narrow neck.",
+    "Collect the plastic bottle with bright red color, then pick up the smooth brown bottle.",
+    "Secure both the red bottle and the plastic bottle for liquids quickly.",
+    "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 plastic bottle with bright red color, then the bottle with brown body and white top.",
+    "Use both arms to pick up the bottle with red cap and the smooth brown bottle.",
+    "Grasp the plastic bottle first, then take the bottle with dark brown color.",
+    "Hold the medium-size plastic bottle in one arm, catch the bottle with white cap with the other arm.",
+    "Catch the medium-size plastic bottle in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Use one arm for the red bottle with white bottom text and the other for the bottle with brown body and white top.",
+    "Let each arm grab either the plastic bottle with bright red color or the medium plastic bottle.",
+    "One arm grabs the red bottle; the other arm grabs the medium plastic bottle.",
+    "With two arms, catch both the medium-size plastic bottle and the medium plastic bottle.",
+    "Use one arm for the medium-size plastic bottle, another for the medium bottle with smooth texture.",
+    "Catch the red bottle with narrow neck, then take hold of the rounded bottle with printed details.",
+    "Hold the bottle with red cap in one arm, the bottle with brown body and white top in the other.",
+    "Grab the medium-size plastic bottle with one arm, the plastic bottle for liquids with the other.",
+    "Catch the plastic bottle with bright red color, then grab the bottle with dark brown color too.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the plastic bottle with printed label.",
+    "Lift both the red bottle with white bottom text and the bottle with white cap simultaneously.",
+    "Grab the red bottle, pick up the plastic bottle with printed label.",
+    "Hold onto the yellow text bottle, then pick up the plastic bottle for liquids.",
+    "Grab the red bottle with narrow neck using an arm and the bottle with dark brown color with the other arm.",
+    "Pick up the bottle with red cap and then pick up the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with narrow neck with one arm, the medium plastic bottle with the other.",
+    "Hold onto the plastic bottle and then get the bottle with dark brown color.",
+    "Pick up the yellow text bottle, then pick up the rounded bottle with printed details.",
+    "Catch the handheld plastic bottle with one arm, the handheld brown bottle with white lid with another arm.",
+    "Lift the smooth red cylindrical bottle and the bottle with brown body and white top with separate arms.",
+    "Use both arms to pick up the red bottle with curved grooves and the rounded bottle with printed details.",
+    "Hold the yellow text bottle with one arm, hold the bottle with dark brown color with the other.",
+    "Secure the red bottle with narrow neck and the bottle with brown body and white top in succession.",
+    "Use each arm to lift the red bottle with curved grooves and the white-capped brown cylindrical bottle.",
+    "Pick up both the yellow text bottle and the plastic bottle with printed label.",
+    "Catch the medium-size plastic bottle, grab the plastic bottle with printed label next.",
+    "Pick up both the red bottle with curved grooves and the bottle with brown body and white top together.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the medium bottle with smooth texture.",
+    "Lift the smooth red cylindrical bottle and also take hold of the rounded bottle with printed details.",
+    "Grab the plastic bottle using one arm and the rounded bottle with printed details using the other.",
+    "Catch both the plastic bottle with bright red color and the cylindrical bottle with narrow neck quickly.",
+    "Catch the red bottle with white bottom text, then catch 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 curved grooves and the medium plastic bottle.",
+    "Lift the red bottle with narrow neck, continue and pick up the plastic bottle with printed label.",
+    "Pick both the red bottle with white bottom text and the bottle with dark brown color one after another.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the white-capped brown cylindrical bottle.",
+    "Lift both bottles, the plastic bottle with one arm, the medium bottle with smooth texture with the other.",
+    "Take hold of the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Hold both the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Assign one arm to catch the plastic bottle, one for the plastic bottle for liquids.",
+    "Grab the smooth red cylindrical bottle and pick up the bottle with dark brown color.",
+    "Collect the handheld plastic bottle, then pick up the rounded bottle with printed details.",
+    "Secure both the red bottle with narrow neck and the medium plastic bottle quickly.",
+    "Use one arm for the plastic bottle with bright red color, the other for the plastic bottle for liquids.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the medium plastic bottle.",
+    "Use both arms to pick up the red bottle with curved grooves and the medium bottle with smooth texture.",
+    "Grasp the red bottle first, then take the medium bottle with smooth texture.",
+    "Hold the red bottle with curved grooves in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Catch the red bottle with screw cap in one arm and the medium plastic bottle in the other arm.",
+    "Use one arm for the red bottle with screw cap and the other for the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the red bottle with curved grooves or the handheld brown bottle with white lid.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the cylindrical bottle with narrow neck.",
+    "With two arms, catch both the medium-size plastic bottle and the cylindrical bottle with narrow neck."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "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 shiny red bottle 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 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 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.",
+    "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.",
+    "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 lightweight plastic brown bottle 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.",
+    "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 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 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.",
+    "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 cylindrical bottle with label together.",
+    "Pick up the bottle with yellow Chinese characters and the 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 lightweight plastic brown bottle at once.",
+    "Use each arm to lift a bottle: the shiny red bottle, then the brown bottle.",
+    "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 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 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 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 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 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 with one arm, grab the brown bottle with 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 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 and take the brown bottle together.",
+    "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 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 lightweight plastic brown bottle.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 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 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 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 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 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 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 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 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 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 bottle with white and yellow label and the 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 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 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 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 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 and the brown bottle together.",
+    "Grab the shiny red bottle 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 lightweight plastic brown bottle.",
+    "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 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.",
+    "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 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 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."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow text bottle and pick up the medium plastic bottle.",
+    "Hold the smooth red cylindrical bottle in one arm, the medium bottle with smooth texture in the other.",
+    "Collect the red bottle, then pick up the bottle with dark brown color.",
+    "Grasp the plastic bottle first, then take the medium bottle with smooth texture.",
+    "Hold the yellow text bottle in one arm, catch the rounded bottle with printed details with the other arm.",
+    "Catch the bottle with red cap, then take hold of the rounded bottle with printed details.",
+    "Catch the red bottle with screw cap with one arm, the rounded bottle with printed details with another arm.",
+    "Use one arm for the red bottle with screw cap, another for the plastic bottle with printed label.",
+    "Secure the red bottle with white bottom text and the bottle with dark brown color in succession.",
+    "Secure both the red bottle with narrow neck and the bottle with brown body and white top quickly.",
+    "Catch both the red bottle with white bottom text and the rounded bottle with printed details quickly.",
+    "Use both arms to pick up the red bottle and the plastic bottle for liquids.",
+    "Let each arm grab either the red bottle with white bottom text or the bottle with white cap.",
+    "Assign one arm to catch the bottle with red cap, one for the plastic bottle with printed label.",
+    "With both arms, pick up the plastic bottle with bright red color, then the bottle with white cap.",
+    "Assign one arm to each of the plastic bottle and the bottle with white cap.",
+    "Use one arm for the handheld plastic bottle and the other for the white-capped brown cylindrical bottle.",
+    "Lift both bottles, the smooth red cylindrical bottle with one arm, the plastic bottle with printed label with the other.",
+    "Grab the bottle with red cap with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Pick up both the plastic bottle and the plastic bottle for liquids together.",
+    "Use each arm to lift the plastic bottle and the bottle with dark brown color.",
+    "Grab the smooth red cylindrical bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Lift the smooth red cylindrical bottle and also take hold of the medium bottle with smooth texture.",
+    "Grab the red bottle with curved grooves using an arm and the bottle with brown body and white top with the other arm.",
+    "Catch the red bottle with screw cap, then grab the rounded bottle with printed details too.",
+    "Secure the plastic bottle, then secure the medium bottle with smooth texture.",
+    "Take hold of the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Grab and hold the plastic bottle with bright red color, then grab the white-capped brown cylindrical bottle.",
+    "Pick up the handheld plastic bottle, then pick up the medium plastic bottle.",
+    "Each arm should pick up one: the bottle with red cap, then the medium plastic bottle.",
+    "With two arms, catch both the red bottle with white bottom text and the bottle with dark brown color.",
+    "Catch the handheld plastic bottle in one arm and the medium plastic bottle in the other arm.",
+    "Lift the smooth red cylindrical bottle and the bottle with dark brown color with separate arms.",
+    "Hold the red bottle with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Use both arms to pick up the bottle with red cap and the bottle with white cap.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the bottle with brown body and white top.",
+    "Pick up both the plastic bottle with bright red color and the white-capped brown cylindrical bottle.",
+    "Hold onto the medium-size plastic bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Use both arms to lift the red bottle and the medium bottle with smooth texture.",
+    "Hold onto the medium-size plastic bottle and then get the rounded bottle with printed details.",
+    "Catch the red bottle with white bottom text, grab the plastic bottle with printed label next.",
+    "Catch the medium-size plastic bottle, then catch the white-capped brown cylindrical bottle.",
+    "Hold both the red bottle with screw cap and the plastic bottle with printed label.",
+    "Lift the red bottle with white bottom text, continue and pick up the bottle with white cap.",
+    "Grab the red bottle, pick up the cylindrical bottle with narrow neck.",
+    "Use one arm for the bottle with red cap, the other for the smooth brown bottle.",
+    "Pick both the smooth red cylindrical bottle and the medium bottle with smooth texture one after another.",
+    "Grab the handheld plastic bottle using one arm and the medium bottle with smooth texture using the other.",
+    "Pick up the red bottle with screw cap and then pick up the plastic bottle for liquids.",
+    "Lift both the red bottle with screw cap and the bottle with brown body and white top simultaneously.",
+    "Grab the plastic bottle and pick up the white-capped brown cylindrical bottle.",
+    "Hold the handheld plastic bottle in one arm, the smooth brown bottle in the other.",
+    "Collect the red bottle with white bottom text, then pick up the smooth brown bottle.",
+    "Grasp the red bottle with narrow neck first, then take the bottle with white cap.",
+    "Hold the plastic bottle with bright red color in one arm, catch the white-capped brown cylindrical bottle with the other arm.",
+    "Catch the handheld plastic bottle, then take hold of 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.",
+    "Use one arm for the red bottle with white bottom text, another for the medium plastic bottle.",
+    "Secure the handheld plastic bottle and the white-capped brown cylindrical bottle in succession.",
+    "Secure both the handheld plastic bottle and the medium plastic bottle quickly.",
+    "Catch both the medium-size plastic bottle and the smooth brown bottle quickly.",
+    "Use both arms to pick up the red bottle and the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the yellow text bottle or the medium bottle with smooth texture.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the bottle with dark brown color.",
+    "With both arms, pick up the medium-size plastic bottle, then the plastic bottle with printed label.",
+    "Assign one arm to each of the red bottle with curved grooves and the plastic bottle for liquids.",
+    "Use one arm for the medium-size plastic bottle and the other for the smooth brown bottle.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the bottle with dark brown color with the other.",
+    "Grab the red bottle with narrow neck with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Pick up both the medium-size plastic bottle and the medium plastic bottle together.",
+    "Use each arm to lift the medium-size plastic bottle and the bottle with white cap.",
+    "Grab the handheld plastic bottle with one arm, the rounded bottle with printed details with the other.",
+    "Lift the medium-size plastic bottle and also take hold of the bottle with white cap.",
+    "Grab the bottle with red cap using an arm and the medium bottle with smooth texture with the other arm.",
+    "Catch the medium-size plastic bottle, then grab the medium bottle with smooth texture too.",
+    "Secure the bottle with red cap, then secure the medium bottle with smooth texture.",
+    "Take hold of the bottle with red cap and the cylindrical bottle with narrow neck.",
+    "Grab and hold the red bottle with white bottom text, then grab the bottle with dark brown color.",
+    "Pick up the plastic bottle, then pick up the plastic bottle with printed label.",
+    "Each arm should pick up one: the red bottle with screw cap, then the bottle with brown body and white top.",
+    "With two arms, catch both the red bottle with screw cap and the bottle with brown body and white top.",
+    "Catch the red bottle with screw cap in one arm and the bottle with white cap in the other arm.",
+    "Lift the medium-size plastic bottle and the bottle with brown body and white top with separate arms.",
+    "Hold the bottle with red cap with one arm, hold the smooth brown bottle with the other.",
+    "Use both arms to pick up the red bottle with screw cap and the smooth brown bottle.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the plastic bottle with printed label.",
+    "Pick up both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Hold onto the red bottle with screw cap, then pick up the rounded bottle with printed details.",
+    "Use both arms to lift the yellow text bottle and the bottle with dark brown color.",
+    "Hold onto the red bottle with curved grooves and then get the bottle with white cap.",
+    "Catch the red bottle with screw cap, grab the plastic bottle with printed label next.",
+    "Catch the medium-size plastic bottle, then catch the plastic bottle for liquids.",
+    "Hold both the red bottle with screw cap and the rounded bottle with printed details.",
+    "Lift the red bottle with white bottom text, continue and pick up the bottle with white cap.",
+    "Grab the plastic bottle, pick up the bottle with brown body and white top.",
+    "Use one arm for the red bottle, the other for the bottle with white cap.",
+    "Pick both the red bottle with white bottom text and the bottle with dark brown color one after another.",
+    "Grab the medium-size plastic bottle using one arm and the smooth brown bottle using the other.",
+    "Pick up the yellow text bottle and then pick up the plastic bottle for liquids.",
+    "Lift both the red bottle with narrow neck and the plastic bottle with printed label simultaneously."
+  ],
+  "unseen": [
+    "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 bottle using 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 take 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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 bottle.",
+    "Pick up both the bottle with white and yellow label and the lightweight plastic brown bottle together.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "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.",
+    "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.",
+    "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.",
+    "Pick up 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 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 brown bottle at once.",
+    "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.",
+    "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 bottle at the same time.",
+    "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.",
+    "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 white and yellow label, 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 lightweight plastic brown bottle at once.",
+    "Pick up 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 shiny red bottle 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 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.",
+    "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 shiny red bottle, then the lightweight plastic brown bottle.",
+    "Pick up both 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 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 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 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.",
+    "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 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.",
+    "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 cylindrical bottle with label at once.",
+    "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.",
+    "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 lightweight plastic 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 with one arm, grab the 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.",
+    "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 bottle with white and yellow label and grab the lightweight plastic brown bottle at once.",
+    "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.",
+    "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 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 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.",
+    "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 cylindrical bottle with label together.",
+    "Grab the bottle with white and yellow label and grab the brown bottle at once.",
+    "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.",
+    "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 brown cylindrical bottle with label at the same time.",
+    "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 bottle with the other.",
+    "Pick up 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.",
+    "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 bottle at once.",
+    "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 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 and the brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and take 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 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.",
+    "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 brown bottle at once.",
+    "Pick up the shiny red bottle and the brown cylindrical bottle with label together."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode20.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle with red cap and the rounded bottle with printed details with separate arms.",
+    "Catch the medium-size plastic bottle, then catch the cylindrical bottle with narrow neck.",
+    "Grab the medium-size plastic bottle using an arm and the medium bottle with smooth texture with the other arm.",
+    "Secure both the medium-size plastic bottle and the medium bottle with smooth texture quickly.",
+    "Hold the red bottle with curved grooves in one arm, the plastic bottle with printed label in the other.",
+    "Hold onto the red bottle with narrow neck and then get the cylindrical bottle with narrow neck.",
+    "Use both arms to pick up the red bottle with narrow neck and 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 smooth red cylindrical bottle with one arm, the plastic bottle with printed label with the other.",
+    "Pick up the plastic bottle with bright red color, then pick up the plastic bottle with printed label.",
+    "Secure the red bottle and the smooth brown bottle in succession.",
+    "Lift both bottles, the bottle with red cap with one arm, the rounded bottle with printed details with the other.",
+    "Use one arm for the handheld plastic bottle, another for the medium bottle with smooth texture.",
+    "Pick up both the handheld plastic bottle and the plastic bottle with printed label together.",
+    "Use one arm for the red bottle with curved grooves and the other for the rounded bottle with printed details.",
+    "Lift both the smooth red cylindrical bottle and the smooth brown bottle simultaneously.",
+    "Grasp the red bottle first, then take the bottle with dark brown color.",
+    "Hold the red bottle with white bottom text in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Take hold of the yellow text bottle and the medium plastic bottle.",
+    "Hold onto the yellow text bottle, then pick up the rounded bottle with printed details.",
+    "Catch the red bottle with curved grooves, grab the bottle with brown body and white top next.",
+    "Assign one arm to catch the red bottle with narrow neck, one for the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with screw cap, then take hold of the plastic bottle with printed label.",
+    "Use both arms to lift the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Pick up the plastic bottle with bright red color and then pick up the rounded bottle with printed details.",
+    "With both arms, pick up the handheld plastic bottle, then the plastic bottle with printed label.",
+    "Grab and hold the handheld plastic bottle, then grab the cylindrical bottle with narrow neck.",
+    "One arm grabs the red bottle; the other arm grabs the medium plastic bottle.",
+    "Each arm should pick up one: the plastic bottle, then the handheld brown bottle with white lid.",
+    "Use both arms to pick up the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Catch both the plastic bottle with bright red color and the plastic bottle with printed label quickly.",
+    "Use one arm for the red bottle with curved grooves, the other for the medium bottle with smooth texture.",
+    "Secure the yellow text bottle, then secure the white-capped brown cylindrical bottle.",
+    "Grab the yellow text bottle and pick up the plastic bottle with printed label.",
+    "Grab the plastic bottle using one arm and the rounded bottle with printed details using the other.",
+    "Hold the plastic bottle with one arm, hold the bottle with dark brown color with the other.",
+    "Lift the handheld plastic bottle, continue and pick up the rounded bottle with printed details.",
+    "Grab the red bottle with white bottom text, pick up the plastic bottle for liquids.",
+    "Catch the medium-size plastic bottle, then grab the cylindrical bottle with narrow neck too.",
+    "Grab the red bottle with curved grooves with one arm, the rounded bottle with printed details with the other.",
+    "Hold both the yellow text bottle and the rounded bottle with printed details.",
+    "Collect the bottle with red cap, then pick up the bottle with dark brown color.",
+    "Let each arm grab either the bottle with red cap or the smooth brown bottle.",
+    "Assign one arm to each of the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Catch the handheld plastic bottle with one arm, the plastic bottle with printed label with another arm.",
+    "Catch the smooth red cylindrical bottle in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "With two arms, catch both the red bottle with narrow neck and the bottle with white cap.",
+    "Pick both the medium-size plastic bottle and the medium bottle with smooth texture one after another.",
+    "Pick up both the red bottle with white bottom text and the white-capped brown cylindrical bottle.",
+    "Use each arm to lift the red bottle with white bottom text and the medium plastic bottle.",
+    "Lift the plastic bottle with bright red color and the white-capped brown cylindrical bottle with separate arms.",
+    "Catch the red bottle, then catch the bottle with dark brown color.",
+    "Grab the medium-size plastic bottle using an arm and the bottle with dark brown color with the other arm.",
+    "Secure both the plastic bottle with bright red color and the smooth brown bottle quickly.",
+    "Hold the red bottle with white bottom text in one arm, the handheld brown bottle with white lid in the other.",
+    "Hold onto the plastic bottle with bright red color and then get the handheld brown bottle with white lid.",
+    "Use both arms to pick up the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Lift the red bottle and also take hold of the bottle with white cap.",
+    "Grab the smooth red cylindrical 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.",
+    "Secure the red bottle with screw cap and the smooth brown bottle in succession.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the plastic bottle with printed label with the other.",
+    "Use one arm for the red bottle with screw cap, another for the bottle with brown body and white top.",
+    "Pick up both the smooth red cylindrical bottle and the white-capped brown cylindrical bottle together.",
+    "Use one arm for the handheld plastic bottle and the other for the medium bottle with smooth texture.",
+    "Lift both the red bottle and the bottle with white cap simultaneously.",
+    "Grasp the yellow text bottle first, then take the plastic bottle for liquids.",
+    "Hold the plastic bottle in one arm, catch the plastic bottle for liquids with the other arm.",
+    "Take hold of the red bottle with narrow neck and the white-capped brown cylindrical bottle.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the bottle with brown body and white top.",
+    "Catch the yellow text bottle, grab the bottle with white cap next.",
+    "Assign one arm to catch the red bottle with screw cap, one for the plastic bottle for liquids.",
+    "Catch the red bottle with curved grooves, then take hold of the cylindrical bottle with narrow neck.",
+    "Use both arms to lift the red bottle and the bottle with brown body and white top.",
+    "Pick up the plastic bottle and then pick up the bottle with white cap.",
+    "With both arms, pick up the yellow text bottle, then the bottle with dark brown color.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the medium plastic bottle.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the bottle with brown body and white top.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the medium plastic bottle.",
+    "Use both arms to pick up the plastic bottle and the medium plastic bottle.",
+    "Catch both the red bottle with narrow neck and the handheld brown bottle with white lid quickly.",
+    "Use one arm for the red bottle with narrow neck, the other for the cylindrical bottle with narrow neck.",
+    "Secure the yellow text bottle, then secure the medium bottle with smooth texture.",
+    "Grab the handheld plastic bottle and pick up the medium plastic bottle.",
+    "Grab the plastic bottle with bright red color using one arm and the medium bottle with smooth texture using the other.",
+    "Hold the plastic bottle with bright red color with one arm, hold the bottle with dark brown color with the other.",
+    "Lift the plastic bottle, continue and pick up the rounded bottle with printed details.",
+    "Grab the bottle with red cap, pick up the medium plastic bottle.",
+    "Catch the red bottle with white bottom text, then grab the smooth brown bottle too.",
+    "Grab the red bottle with one arm, the medium plastic bottle with the other.",
+    "Hold both the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Collect the red bottle with screw cap, then pick up the plastic bottle with printed label.",
+    "Let each arm grab either the red bottle with screw cap or the bottle with brown body and white top.",
+    "Assign one arm to each of the yellow text bottle and the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with white bottom text with one arm, the smooth brown bottle with another arm.",
+    "Catch the bottle with red cap in one arm and the handheld brown bottle with white lid in the other arm.",
+    "With two arms, catch both the plastic bottle and the bottle with white cap.",
+    "Pick both the plastic bottle with bright red color and the rounded bottle with printed details one after another.",
+    "Pick up both the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Use each arm to lift the red bottle with curved grooves and the smooth brown bottle."
+  ],
+  "unseen": [
+    "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 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 lightweight plastic brown bottle together.",
+    "Pick up 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.",
+    "Pick up the shiny red bottle 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 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.",
+    "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 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 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 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 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 lightweight plastic brown bottle with 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 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 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.",
+    "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.",
+    "Pick up the shiny red bottle 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.",
+    "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 lightweight plastic brown bottle.",
+    "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 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.",
+    "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.",
+    "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 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 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 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.",
+    "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.",
+    "Pick up the bottle with white and yellow label 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 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 shiny red bottle 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 cylindrical bottle with label 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.",
+    "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 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 brown cylindrical bottle with label.",
+    "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.",
+    "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 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 bottle using the other.",
+    "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 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 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 shiny red bottle 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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 lightweight plastic brown bottle with 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 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.",
+    "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.",
+    "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 bottle with white and yellow label and take 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 bottle."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode21.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Let each arm grab either the red bottle with curved grooves or the smooth brown bottle.",
+    "Hold the red bottle with curved grooves in one arm, the bottle with dark brown color in the other.",
+    "Hold the red bottle with white bottom text with one arm, hold the plastic bottle for liquids with the other.",
+    "Hold the handheld plastic bottle in one arm, catch the bottle with dark brown color with the other arm.",
+    "Grab the bottle with red cap with one arm, the rounded bottle with printed details with the other.",
+    "Use both arms to pick up the red bottle with white bottom text and the bottle with white cap.",
+    "Catch the plastic bottle with bright red color, then take hold of the medium plastic bottle.",
+    "Secure the red bottle with screw cap, then secure the white-capped brown cylindrical bottle.",
+    "Catch both the red bottle with white bottom text and the rounded bottle with printed details quickly.",
+    "Lift the yellow text bottle and the smooth brown bottle with separate arms.",
+    "Grab and hold the medium-size plastic bottle, then grab the cylindrical bottle with narrow neck.",
+    "Lift the plastic bottle and also take hold of the handheld brown bottle with white lid.",
+    "Lift the medium-size plastic bottle, continue and pick up the handheld brown bottle with white lid.",
+    "Use both arms to lift the handheld plastic bottle and the bottle with brown body and white top.",
+    "Catch the plastic bottle with bright red color, grab the smooth brown bottle next.",
+    "Each arm should pick up one: the red bottle with curved grooves, then the bottle with dark brown color.",
+    "Grab the yellow text bottle and pick up the cylindrical bottle with narrow neck.",
+    "Catch the yellow text bottle, then grab the plastic bottle for liquids too.",
+    "Pick up the red bottle and then pick up the bottle with brown body and white top.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the smooth brown bottle.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Use one arm for the red bottle with narrow neck, another for the cylindrical bottle with narrow neck.",
+    "Hold both the plastic bottle and the bottle with brown body and white top.",
+    "Use one arm for the red bottle with narrow neck and the other 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 yellow text bottle and then get the plastic bottle with printed label.",
+    "With two arms, catch both the red bottle with narrow neck and the plastic bottle for liquids.",
+    "Lift both the plastic bottle with bright red color and the medium plastic bottle simultaneously.",
+    "Hold onto the yellow text bottle, then pick up the bottle with white cap.",
+    "Secure both the red bottle with white bottom text and the bottle with brown body and white top quickly.",
+    "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 curved grooves and the medium plastic bottle.",
+    "Pick up both the plastic bottle with bright red color and the cylindrical bottle with narrow neck together.",
+    "Grab the red bottle with screw cap using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Grab the plastic bottle with bright red color with one arm, the smooth brown bottle with the other.",
+    "Collect the red bottle with screw cap, then pick up the bottle with dark brown color.",
+    "Use both arms to pick up the bottle with red cap and the plastic bottle for liquids.",
+    "Pick up the red bottle with white bottom text, then pick up the cylindrical bottle with narrow neck.",
+    "Catch the plastic bottle, then catch the bottle with white cap.",
+    "Use each arm to lift the smooth red cylindrical bottle and the bottle with white cap.",
+    "Grasp the red bottle with white bottom text first, then take the white-capped brown cylindrical bottle.",
+    "Pick both the red bottle with white bottom text and the bottle with white cap one after another.",
+    "Catch the red bottle with screw cap in one arm and the medium plastic bottle in the other arm.",
+    "Grab the yellow text bottle using one arm and the medium bottle with smooth texture using the other.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the rounded bottle with printed details.",
+    "Use one arm for the handheld plastic bottle, the other for the cylindrical bottle with narrow neck.",
+    "Pick up both the red bottle and the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with curved grooves, pick up the medium bottle with smooth texture.",
+    "Assign one arm to catch the medium-size plastic bottle, one for the bottle with dark brown color.",
+    "Assign one arm to each of the red bottle and the medium plastic bottle.",
+    "Let each arm grab either the red bottle with white bottom text or the plastic bottle for liquids.",
+    "Hold the red bottle with white bottom text in one arm, the medium plastic bottle in the other.",
+    "Hold the handheld plastic bottle with one arm, hold the bottle with dark brown color with the other.",
+    "Hold the yellow text bottle in one arm, catch the rounded bottle with printed details with the other arm.",
+    "Grab the red bottle with white bottom text with one arm, the plastic bottle with printed label with the other.",
+    "Use both arms to pick up the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Catch the red bottle with curved grooves, then take hold of the plastic bottle for liquids.",
+    "Secure the medium-size plastic bottle, then secure the rounded bottle with printed details.",
+    "Catch both the bottle with red cap and the bottle with white cap quickly.",
+    "Lift the handheld plastic bottle and the rounded bottle with printed details with separate arms.",
+    "Grab and hold the red bottle with screw cap, then grab the handheld brown bottle with white lid.",
+    "Lift the smooth red cylindrical bottle and also take hold of the bottle with brown body and white top.",
+    "Lift the plastic bottle with bright red color, continue and pick up the smooth brown bottle.",
+    "Use both arms to lift the handheld plastic bottle and the bottle with white cap.",
+    "Catch the red bottle with curved grooves, grab the bottle with dark brown color next.",
+    "Each arm should pick up one: the handheld plastic bottle, then the bottle with white cap.",
+    "Grab the red bottle with white bottom text and pick up the smooth brown bottle.",
+    "Catch the medium-size plastic bottle, then grab the handheld brown bottle with white lid too.",
+    "Pick up the handheld plastic bottle and then pick up the rounded bottle with printed details.",
+    "One arm grabs the bottle with red cap; the other arm grabs the bottle with white cap.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the plastic bottle for liquids with the other.",
+    "Use one arm for the smooth red cylindrical bottle, another for the smooth brown bottle.",
+    "Hold both the bottle with red cap and the plastic bottle for liquids.",
+    "Use one arm for the medium-size plastic bottle and the other for the plastic bottle with printed label.",
+    "Secure the red bottle with curved grooves and the plastic bottle for liquids in succession.",
+    "Hold onto the smooth red cylindrical bottle and then get the plastic bottle with printed label.",
+    "With two arms, catch both the yellow text bottle and the bottle with brown body and white top.",
+    "Lift both the plastic bottle and the bottle with dark brown color simultaneously.",
+    "Hold onto the bottle with red cap, then pick up the plastic bottle for liquids.",
+    "Secure both the red bottle with white bottom text and the bottle with white cap quickly.",
+    "Catch the red bottle with narrow neck with one arm, the cylindrical bottle with narrow neck with another arm.",
+    "Take hold of the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Pick up both the red bottle with screw cap and the bottle with brown body and white top together.",
+    "Grab the red bottle with screw cap using an arm and the medium plastic bottle 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, then pick up the bottle with brown body and white top.",
+    "Use both arms to pick up the red bottle with screw cap and the medium bottle with smooth texture.",
+    "Pick up the smooth red cylindrical bottle, then pick up the rounded bottle with printed details.",
+    "Catch the red bottle with narrow neck, then catch the plastic bottle with printed label.",
+    "Use each arm to lift the yellow text bottle and the bottle with brown body and white top.",
+    "Grasp the plastic bottle first, then take the handheld brown bottle with white lid.",
+    "Pick both the bottle with red cap and the white-capped brown cylindrical bottle one after another.",
+    "Catch the handheld plastic bottle in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "Grab the red 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 rounded bottle with printed details.",
+    "Use one arm for the red bottle with white bottom text, the other for the plastic bottle with printed label.",
+    "Pick up both the red bottle with screw cap and the bottle with brown body and white top.",
+    "Grab the smooth red cylindrical bottle, pick up the bottle with dark brown color.",
+    "Assign one arm to catch the red bottle with narrow neck, one for the bottle with white cap.",
+    "Assign one arm to each of the medium-size plastic bottle and the cylindrical bottle with narrow neck."
+  ],
+  "unseen": [
+    "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 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 shiny red bottle 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 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 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 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.",
+    "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.",
+    "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 cylindrical bottle with label with the other.",
+    "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 bottle with yellow Chinese characters, then 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.",
+    "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 lightweight plastic brown bottle.",
+    "Grab the shiny red bottle and the brown bottle 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 brown cylindrical bottle with label using 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 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.",
+    "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 grab the brown bottle at once.",
+    "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 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.",
+    "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.",
+    "Pick up the bottle with yellow Chinese characters 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 yellow Chinese characters, then the brown bottle.",
+    "Grab 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 brown bottle at once.",
+    "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.",
+    "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 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 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 brown bottle.",
+    "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 brown cylindrical bottle with label 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 lightweight plastic brown bottle at the same time.",
+    "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 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.",
+    "Pick up the shiny red bottle 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 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.",
+    "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 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 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 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 bottle with yellow Chinese characters, 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 grab the brown bottle at once.",
+    "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 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 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 brown bottle with the other.",
+    "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 white and yellow label, then the brown bottle.",
+    "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 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.",
+    "Grab the shiny red bottle and the brown bottle 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 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.",
+    "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 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 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 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 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 lightweight plastic brown bottle with the other.",
+    "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.",
+    "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 brown bottle 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."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode22.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to lift the bottle with red cap and the bottle with dark brown color.",
+    "Lift both the red bottle with curved grooves and the bottle with white cap simultaneously.",
+    "Pick up both the plastic bottle and the plastic bottle with printed label together.",
+    "One arm grabs the plastic bottle; the other arm grabs the rounded bottle with printed details.",
+    "Catch the handheld plastic bottle, grab the plastic bottle for liquids next.",
+    "Grab the red bottle with narrow neck and pick up the plastic bottle with printed label.",
+    "Grab the bottle with red cap using one arm and the handheld brown bottle with white lid using the other.",
+    "Assign one arm to catch the bottle with red cap, one for the handheld brown bottle with white lid.",
+    "Grasp the plastic bottle with bright red color first, then take the medium bottle with smooth texture.",
+    "Assign one arm to each of the yellow text bottle and the medium plastic bottle.",
+    "Secure the bottle with red cap and the cylindrical bottle with narrow neck in succession.",
+    "Pick up both the red bottle with white bottom text and the medium plastic bottle.",
+    "Hold onto the plastic bottle, then pick up the bottle with brown body and white top.",
+    "Catch the red bottle with white bottom text with one arm, the bottle with brown body and white top with another arm.",
+    "Catch the bottle with red cap, then grab the smooth brown bottle too.",
+    "Secure the red bottle with curved grooves, then secure the cylindrical bottle with narrow neck.",
+    "With both arms, pick up the red bottle with white bottom text, then the plastic bottle for liquids.",
+    "Catch the red bottle with narrow neck in one arm and the bottle with dark brown color in the other arm.",
+    "Use both arms to pick up the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Grab the medium-size plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Grab and hold the red bottle with white bottom text, then grab the medium bottle with smooth texture.",
+    "Grab the red bottle with curved grooves using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Lift the yellow text bottle and the smooth brown bottle with separate arms.",
+    "Catch the red bottle with white bottom text, then catch the smooth brown bottle.",
+    "Hold onto the plastic bottle and then get the medium plastic bottle.",
+    "Pick up the bottle with red cap and then pick up the white-capped brown cylindrical bottle.",
+    "Lift the red bottle with narrow neck, continue and pick up the bottle with white cap.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the plastic bottle with printed label.",
+    "Take hold of the plastic bottle and the smooth brown bottle.",
+    "Catch the red bottle, then take hold of the cylindrical bottle with narrow neck.",
+    "Use one arm for the smooth red cylindrical bottle, another for the plastic bottle with printed label.",
+    "Pick up the plastic bottle with bright red color, then pick up the cylindrical bottle with narrow neck.",
+    "Use one arm for the bottle with red cap, the other for the medium bottle with smooth texture.",
+    "Hold the red bottle with curved grooves in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Use both arms to pick up the red bottle with narrow neck and the rounded bottle with printed details.",
+    "Collect the red bottle, then pick up the bottle with white cap.",
+    "Pick both the medium-size plastic bottle and the white-capped brown cylindrical bottle one after another.",
+    "Use one arm for the handheld plastic bottle and the other for the bottle with dark brown color.",
+    "Hold the plastic bottle in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Hold both the handheld plastic bottle and the plastic bottle for liquids.",
+    "Grab the bottle with red cap with one arm, the bottle with dark brown color with the other.",
+    "With two arms, catch both the red bottle with curved grooves and the cylindrical bottle with narrow neck.",
+    "Use each arm to lift the handheld plastic bottle and the plastic bottle with printed label.",
+    "Hold the plastic bottle with bright red color with one arm, hold the plastic bottle with printed label with the other.",
+    "Lift the red bottle and also take hold of the bottle with dark brown color.",
+    "Let each arm grab either the handheld plastic bottle or the bottle with brown body and white top.",
+    "Grab the red bottle with screw cap, pick up the bottle with brown body and white top.",
+    "Secure both the plastic bottle with bright red color and the plastic bottle for liquids quickly.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the plastic bottle for liquids with the other.",
+    "Catch both the yellow text bottle and the medium plastic bottle quickly.",
+    "Use both arms to lift the handheld plastic bottle and the bottle with brown body and white top.",
+    "Lift both the red bottle with screw cap and the bottle with dark brown color simultaneously.",
+    "Pick up both the plastic bottle and the smooth brown bottle together.",
+    "One arm grabs the plastic bottle; the other arm grabs the bottle with brown body and white top.",
+    "Catch the bottle with red cap, grab the handheld brown bottle with white lid next.",
+    "Grab the plastic bottle with bright red color and pick up the rounded bottle with printed details.",
+    "Grab the red bottle with screw cap using one arm and the cylindrical bottle with narrow neck using the other.",
+    "Assign one arm to catch the medium-size plastic bottle, one for the bottle with dark brown color.",
+    "Grasp the handheld plastic bottle first, then take the cylindrical bottle with narrow neck.",
+    "Assign one arm to each of the plastic bottle with bright red color and the bottle with white cap.",
+    "Secure the yellow text bottle and the plastic bottle for liquids in succession.",
+    "Pick up both the red bottle with white bottom text and the bottle with white cap.",
+    "Hold onto the plastic bottle with bright red color, then pick up the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with one arm, the handheld brown bottle with white lid with another arm.",
+    "Catch the yellow text bottle, then grab the plastic bottle for liquids too.",
+    "Secure the bottle with red cap, then secure the bottle with dark brown color.",
+    "With both arms, pick up the bottle with red cap, then the bottle with dark brown color.",
+    "Catch the bottle with red cap in one arm and the rounded bottle with printed details in the other arm.",
+    "Use both arms to pick up the red bottle with white bottom text and the smooth brown bottle.",
+    "Grab the medium-size plastic bottle with one arm, the bottle with white cap with the other.",
+    "Grab and hold the red bottle with screw cap, then grab the bottle with brown body and white top.",
+    "Grab the medium-size plastic bottle using an arm and the bottle with dark brown color with the other arm.",
+    "Lift the bottle with red cap and the medium plastic bottle with separate arms.",
+    "Catch the medium-size plastic bottle, then catch the smooth brown bottle.",
+    "Hold onto the medium-size plastic bottle and then get the cylindrical bottle with narrow neck.",
+    "Pick up the red bottle with screw cap and then pick up the smooth brown bottle.",
+    "Lift the plastic bottle with bright red color, continue and pick up the bottle with white cap.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the medium plastic bottle.",
+    "Take hold of the yellow text bottle and the medium plastic bottle.",
+    "Catch the yellow text bottle, then take hold of the medium bottle with smooth texture.",
+    "Use one arm for the medium-size plastic bottle, another for the medium plastic bottle.",
+    "Pick up the red bottle with screw cap, then pick up the medium bottle with smooth texture.",
+    "Use one arm for the smooth red cylindrical bottle, the other for the medium plastic bottle.",
+    "Hold the plastic bottle in one arm, catch the white-capped brown cylindrical bottle with the other arm.",
+    "Use both arms to pick up the red bottle and the plastic bottle with printed label.",
+    "Collect the red bottle with screw cap, then pick up the bottle with dark brown color.",
+    "Pick both the smooth red cylindrical bottle and the handheld brown bottle with white lid one after another.",
+    "Use one arm for the red bottle with curved grooves and the other for the white-capped brown cylindrical bottle.",
+    "Hold the medium-size plastic bottle in one arm, the handheld brown bottle with white lid in the other.",
+    "Hold both the red bottle with narrow neck and the bottle with white cap.",
+    "Grab the medium-size plastic bottle with one arm, the bottle with white cap with the other.",
+    "With two arms, catch both the red bottle with curved grooves and the bottle with white cap.",
+    "Use each arm to lift the handheld plastic bottle and the rounded bottle with printed details.",
+    "Hold the red bottle with curved grooves with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Lift the red bottle with curved grooves and also take hold of the plastic bottle with printed label.",
+    "Let each arm grab either the plastic bottle with bright red color or the rounded bottle with printed details.",
+    "Grab the red bottle with narrow neck, pick up the plastic bottle with printed label.",
+    "Secure both the red bottle with white bottom text and the cylindrical bottle with narrow neck quickly.",
+    "Lift both bottles, the plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Catch both the plastic bottle and the cylindrical bottle with narrow neck quickly."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "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 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 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.",
+    "Pick up the bottle with white and yellow label and the brown bottle 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 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 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 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 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.",
+    "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.",
+    "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 bottle.",
+    "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 bottle using the other.",
+    "Pick up 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.",
+    "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.",
+    "Pick up the bottle with yellow Chinese characters and the 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.",
+    "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 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 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.",
+    "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 and the 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 lightweight plastic brown bottle 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 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 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 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.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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 lightweight plastic brown bottle at once.",
+    "Lift the shiny red bottle 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 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 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 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 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.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "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 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 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.",
+    "Pick up 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.",
+    "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 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.",
+    "Pick up 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.",
+    "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 lightweight plastic brown bottle together.",
+    "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.",
+    "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 yellow Chinese characters and the brown bottle.",
+    "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.",
+    "Pick up 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 lightweight plastic brown bottle.",
+    "Grab the bottle with yellow Chinese characters with one arm, grab the brown bottle with the other."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode23.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure both the red bottle with curved grooves and the bottle with dark brown color quickly.",
+    "Hold onto the red bottle with screw cap and then get the smooth brown bottle.",
+    "Catch the bottle with red cap in one arm and the bottle with white cap in the other arm.",
+    "Grab the handheld plastic bottle with one arm, the rounded bottle with printed details with the other.",
+    "Grab the bottle with red cap with one arm, the rounded bottle with printed details with the other.",
+    "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 and the other for the medium plastic bottle.",
+    "Pick up both the handheld plastic bottle and the rounded bottle with printed details.",
+    "Use one arm for the plastic bottle, another for the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the plastic bottle, then the smooth brown bottle.",
+    "Use both arms to pick up the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the bottle with brown body and white top.",
+    "Grab the red bottle with curved grooves, pick up the bottle with dark brown color.",
+    "Catch the red bottle with screw cap, then catch the handheld brown bottle with white lid.",
+    "Collect the red bottle with screw cap, then pick up the medium plastic bottle.",
+    "Catch the plastic bottle with bright red color, then grab the smooth brown bottle too.",
+    "Lift the medium-size plastic bottle, continue and pick up the medium plastic bottle.",
+    "Catch the yellow text bottle, then take hold of the plastic bottle for liquids.",
+    "Use each arm to lift the bottle with red cap and the plastic bottle for liquids.",
+    "Pick up the red bottle and then pick up the bottle with dark brown color.",
+    "Let each arm grab either the red bottle or the bottle with white cap.",
+    "Secure the bottle with red cap, then secure the plastic bottle with printed label.",
+    "Hold both the plastic bottle with bright red color and the handheld brown bottle with white lid.",
+    "One arm grabs the bottle with red cap; the other arm grabs the smooth brown bottle.",
+    "Pick up both the red bottle with screw cap and the bottle with white cap together.",
+    "Grab the red bottle with narrow neck and pick up the bottle with brown body and white top.",
+    "Lift both the red bottle and the handheld brown bottle with white lid simultaneously.",
+    "Hold onto the plastic bottle with bright red color, then pick up the handheld brown bottle with white lid.",
+    "Hold the plastic bottle with bright red color in one arm, the bottle with brown body and white top in the other.",
+    "Hold the medium-size plastic bottle with one arm, hold the plastic bottle with printed label with the other.",
+    "Grasp the bottle with red cap first, then take the medium bottle with smooth texture.",
+    "Catch the red bottle with white bottom text, grab the rounded bottle with printed details next.",
+    "Lift the yellow text bottle and also take hold of the bottle with brown body and white top.",
+    "Secure the red bottle with white bottom text and the handheld brown bottle with white lid in succession.",
+    "Lift the red bottle with narrow neck and the handheld brown bottle with white lid with separate arms.",
+    "With two arms, catch both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Catch the plastic bottle with bright red color with one arm, the smooth brown bottle with another arm.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the medium bottle with smooth texture with the other.",
+    "Each arm should pick up one: the bottle with red cap, then the plastic bottle for liquids.",
+    "Hold the handheld plastic bottle in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Take hold of the plastic bottle with bright red color and the medium plastic bottle.",
+    "Pick both the plastic bottle with bright red color and the plastic bottle with printed label one after another.",
+    "Use both arms to lift the bottle with red cap and the white-capped brown cylindrical bottle.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the bottle with brown body and white top.",
+    "Use both arms to pick up the medium-size plastic bottle and the medium plastic bottle.",
+    "Use one arm for the red bottle with white bottom text, the other for the handheld brown bottle with white lid.",
+    "Grab the handheld plastic bottle using an arm and the rounded bottle with printed details with the other arm.",
+    "Grab the red bottle with white bottom text using one arm and the medium bottle with smooth texture using the other.",
+    "Pick up the red bottle with narrow neck, then pick up the bottle with white cap.",
+    "Catch both the red bottle and the smooth brown bottle quickly.",
+    "Secure both the red bottle with white bottom text and the cylindrical bottle with narrow neck quickly.",
+    "Hold onto the yellow text bottle and then get the handheld brown bottle with white lid.",
+    "Catch the red bottle with white bottom text in one arm and the bottle with dark brown color in the other arm.",
+    "Grab the plastic bottle with bright red color with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Grab the bottle with red cap with one arm, the handheld brown bottle with white lid with the other.",
+    "Assign one arm to each of the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Use one arm for the yellow text bottle and the other for the rounded bottle with printed details.",
+    "Pick up both the smooth red cylindrical bottle and the plastic bottle with printed label.",
+    "Use one arm for the red bottle with white bottom text, another for the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the red bottle with curved grooves, then the bottle with white cap.",
+    "Use both arms to pick up the red bottle with screw cap and the bottle with white cap.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the rounded bottle with printed details.",
+    "Grab the plastic bottle with bright red color, pick up the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with curved grooves, then catch the bottle with dark brown color.",
+    "Collect the red bottle with screw cap, then pick up the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with narrow neck, then grab the medium plastic bottle too.",
+    "Lift the plastic bottle, continue and pick up the cylindrical bottle with narrow neck.",
+    "Catch the bottle with red cap, then take hold of the plastic bottle for liquids.",
+    "Use each arm to lift the red bottle with screw cap and the medium bottle with smooth texture.",
+    "Pick up the plastic bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the medium-size plastic bottle or the bottle with brown body and white top.",
+    "Secure the plastic bottle with bright red color, then secure the bottle with dark brown color.",
+    "Hold both the plastic bottle with bright red color and the bottle with dark brown color.",
+    "One arm grabs the bottle with red cap; the other arm grabs the bottle with white cap.",
+    "Pick up both the red bottle with curved grooves and the bottle with dark brown color together.",
+    "Grab the bottle with red cap and pick up the medium bottle with smooth texture.",
+    "Lift both the bottle with red cap and the handheld brown bottle with white lid simultaneously.",
+    "Hold onto the red bottle with screw cap, then pick up the bottle with brown body and white top.",
+    "Hold the plastic bottle with bright red color in one arm, the bottle with brown body and white top in the other.",
+    "Hold the red bottle with screw cap with one arm, hold the medium bottle with smooth texture with the other.",
+    "Grasp the bottle with red cap first, then take the medium bottle with smooth texture.",
+    "Catch the plastic bottle with bright red color, grab the smooth brown bottle next.",
+    "Lift the smooth red cylindrical bottle and also take hold of the medium plastic bottle.",
+    "Secure the handheld plastic bottle and the rounded bottle with printed details in succession.",
+    "Lift the red bottle with white bottom text and the bottle with white cap with separate arms.",
+    "With two arms, catch both the red bottle with white bottom text and the plastic bottle for liquids.",
+    "Catch the handheld plastic bottle with one arm, the smooth brown bottle with another arm.",
+    "Lift both bottles, the yellow text bottle with one arm, the bottle with brown body and white top with the other.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the cylindrical bottle with narrow neck.",
+    "Hold the handheld plastic bottle in one arm, catch the bottle with dark brown color with the other arm.",
+    "Take hold of the red bottle and the rounded bottle with printed details.",
+    "Pick both the red bottle with screw cap and the white-capped brown cylindrical bottle one after another.",
+    "Use both arms to lift the red bottle with screw cap and the medium plastic bottle.",
+    "Grab and hold the red bottle, then grab the rounded bottle with printed details.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the bottle with white cap.",
+    "Use one arm for the yellow text bottle, the other for the bottle with dark brown color.",
+    "Grab the plastic bottle using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Grab the plastic bottle with bright red color using one arm and the smooth brown bottle using the other.",
+    "Pick up the red bottle with screw cap, then pick up the bottle with brown body and white top.",
+    "Catch both the yellow text bottle and the plastic bottle with printed label quickly."
+  ],
+  "unseen": [
+    "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.",
+    "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 brown cylindrical bottle with label 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.",
+    "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 bottle.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 bottle.",
+    "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 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 lightweight plastic 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 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.",
+    "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 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 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 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 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.",
+    "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 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 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 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 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 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 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 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 lightweight plastic brown bottle.",
+    "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 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.",
+    "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 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 lightweight plastic 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 white and yellow label, then the lightweight plastic brown bottle.",
+    "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 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 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 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.",
+    "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.",
+    "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.",
+    "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 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 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 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 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.",
+    "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 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 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 lightweight plastic brown bottle 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.",
+    "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 the brown cylindrical bottle with label 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 bottle 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 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 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.",
+    "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.",
+    "Use each arm to grab the bottle with yellow Chinese characters and the brown bottle."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode24.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift both the red bottle and the bottle with dark brown color simultaneously.",
+    "Lift the handheld plastic bottle and the plastic bottle for liquids with separate arms.",
+    "Catch the red bottle with white bottom text in one arm and the smooth brown 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.",
+    "Lift the plastic bottle and also take hold of the cylindrical bottle with narrow neck.",
+    "Hold onto the red bottle, then pick up the handheld brown bottle with white lid.",
+    "Pick up the bottle with red cap and then pick up the bottle with brown body and white top.",
+    "Hold the plastic bottle in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Grab the medium-size plastic bottle with one arm, the medium plastic bottle with the other.",
+    "With both arms, pick up the plastic bottle, then the cylindrical bottle with narrow neck.",
+    "Secure both the smooth red cylindrical bottle and the handheld brown bottle with white lid quickly.",
+    "Collect the red bottle with screw cap, then pick up the bottle with white cap.",
+    "Use one arm for the medium-size plastic bottle, another for the bottle with white cap.",
+    "Grab the red bottle with screw cap and pick up the white-capped brown cylindrical bottle.",
+    "Catch both the handheld plastic bottle and the medium bottle with smooth texture quickly.",
+    "Lift the red bottle with narrow neck, continue and pick up the medium plastic bottle.",
+    "One arm grabs the yellow text bottle; the other arm grabs the cylindrical bottle with narrow neck.",
+    "With two arms, catch both the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Hold onto the red bottle with white bottom text and then get the bottle with dark brown color.",
+    "Hold the red bottle with curved grooves with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Pick up both the red bottle with curved grooves and the rounded bottle with printed details together.",
+    "Grab the plastic bottle with bright red color using an arm and the medium plastic bottle with the other arm.",
+    "Catch the plastic bottle, then catch the smooth brown bottle.",
+    "Use one arm for the handheld plastic bottle, the other for the medium plastic bottle.",
+    "Let each arm grab either the red bottle with white bottom text or the white-capped brown cylindrical bottle.",
+    "Pick up both the red bottle with narrow neck and the white-capped brown cylindrical bottle.",
+    "Use each arm to lift the red bottle with screw cap and the smooth brown bottle.",
+    "Catch the medium-size plastic bottle with one arm, the plastic bottle with printed label with another arm.",
+    "Pick both the handheld plastic bottle and the cylindrical bottle with narrow neck one after another.",
+    "Grab the red bottle with screw cap using one arm and the bottle with dark brown color using the other.",
+    "Grab the medium-size plastic bottle, pick up the medium bottle with smooth texture.",
+    "Use both arms to pick up the medium-size plastic bottle and the rounded bottle with printed details.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the bottle with brown body and white top with the other.",
+    "Secure the plastic bottle with bright red color and the bottle with dark brown color in succession.",
+    "Hold both the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "Catch the medium-size plastic bottle, grab the rounded bottle with printed details next.",
+    "Secure the red bottle with curved grooves, then secure the plastic bottle for liquids.",
+    "Catch the red bottle with screw cap, then grab the medium plastic bottle too.",
+    "Hold the plastic bottle in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Use both arms to lift the handheld plastic bottle and the bottle with brown body and white top.",
+    "Catch the red bottle with white bottom text, then take hold of the medium plastic bottle.",
+    "Each arm should pick up one: the bottle with red cap, then the white-capped brown cylindrical bottle.",
+    "Use one arm for the red bottle and the other for the bottle with dark brown color.",
+    "Take hold of the red bottle and the white-capped brown cylindrical bottle.",
+    "Grasp the red bottle with white bottom text first, then take the cylindrical bottle with narrow neck.",
+    "Use both arms to pick up the medium-size plastic bottle and the white-capped brown cylindrical bottle.",
+    "Assign one arm to each of the red bottle with narrow neck and the smooth brown bottle.",
+    "Pick up the medium-size plastic bottle, then pick up the plastic bottle with printed label.",
+    "Grab and hold the yellow text bottle, then grab the plastic bottle with printed label.",
+    "Assign one arm to catch the plastic bottle with bright red color, one for the rounded bottle with printed details.",
+    "Lift both the smooth red cylindrical bottle and the plastic bottle with printed label simultaneously.",
+    "Lift the handheld plastic bottle and the bottle with dark brown color with separate arms.",
+    "Catch the red bottle in one arm and the plastic bottle with printed label in the other arm.",
+    "Grab the medium-size plastic bottle with one arm, the plastic bottle for liquids with the other.",
+    "Lift the plastic bottle with bright red color and also take hold of the rounded bottle with printed details.",
+    "Hold onto the handheld plastic bottle, then pick up the medium bottle with smooth texture.",
+    "Pick up the red bottle and then pick up the plastic bottle for liquids.",
+    "Hold the red bottle in one arm, the bottle with brown body and white top in the other.",
+    "Grab the smooth red cylindrical bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "With both arms, pick up the red bottle with white bottom text, then the plastic bottle for liquids.",
+    "Secure both the plastic bottle and the bottle with brown body and white top quickly.",
+    "Collect the medium-size plastic bottle, then pick up the smooth brown bottle.",
+    "Use one arm for the red bottle with white bottom text, another for the handheld brown bottle with white lid.",
+    "Grab the smooth red cylindrical bottle and pick up the medium plastic bottle.",
+    "Catch both the red bottle with curved grooves and the plastic bottle with printed label quickly.",
+    "Lift the red bottle with screw cap, continue and pick up the bottle with dark brown color.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the bottle with brown body and white top.",
+    "With two arms, catch both the red bottle with curved grooves and the handheld brown bottle with white lid.",
+    "Hold onto the bottle with red cap and then get the bottle with brown body and white top.",
+    "Hold the red bottle with screw cap with one arm, hold the plastic bottle for liquids with the other.",
+    "Pick up both the plastic bottle and the plastic bottle for liquids together.",
+    "Grab the red bottle with white bottom text using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Catch the bottle with red cap, then catch the smooth brown bottle.",
+    "Use one arm for the plastic bottle, the other for the smooth brown bottle.",
+    "Let each arm grab either the red bottle or the medium plastic bottle.",
+    "Pick up both the red bottle with curved grooves and the bottle with brown body and white top.",
+    "Use each arm to lift the red bottle with curved grooves and the medium plastic bottle.",
+    "Catch the yellow text bottle with one arm, the plastic bottle with printed label with another arm.",
+    "Pick both the red bottle and the smooth brown bottle one after another.",
+    "Grab the red bottle with curved grooves using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Grab the plastic bottle, pick up the white-capped brown cylindrical bottle.",
+    "Use both arms to pick up the plastic bottle with bright red color and the white-capped brown cylindrical bottle.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Secure the handheld plastic bottle and the medium bottle with smooth texture in succession.",
+    "Hold both the red bottle with narrow neck and the cylindrical bottle with narrow neck.",
+    "Catch the plastic bottle, grab the handheld brown bottle with white lid next.",
+    "Secure the bottle with red cap, then secure the bottle with brown body and white top.",
+    "Catch the medium-size plastic bottle, then grab the medium bottle with smooth texture too.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "Use both arms to lift the plastic bottle and the plastic bottle for liquids.",
+    "Catch the bottle with red cap, then take hold of the bottle with dark brown color.",
+    "Each arm should pick up one: the plastic bottle, then the smooth brown bottle.",
+    "Use one arm for the bottle with red cap and the other for the rounded bottle with printed details.",
+    "Take hold of the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Grasp the red bottle with white bottom text first, then take the medium bottle with smooth texture.",
+    "Use both arms to pick up the red bottle with white bottom text and the medium plastic bottle.",
+    "Assign one arm to each of the plastic bottle and the handheld brown bottle with white lid.",
+    "Pick up the yellow text bottle, then pick up the bottle with white cap.",
+    "Grab and hold the bottle with red cap, then grab the bottle with brown body and white top.",
+    "Assign one arm to catch the medium-size plastic bottle, one for the plastic bottle for liquids."
+  ],
+  "unseen": [
+    "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 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 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 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 lift a bottle: the shiny red bottle, then the brown bottle.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "Pick up the bottle with yellow Chinese characters and take the brown bottle together.",
+    "Pick up the bottle with yellow Chinese characters and 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.",
+    "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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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 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 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 cylindrical bottle with label 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.",
+    "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.",
+    "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 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 bottle at once.",
+    "Pick up the bottle with yellow Chinese characters and take 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 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.",
+    "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 cylindrical bottle with label together.",
+    "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 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 lightweight plastic brown bottle together.",
+    "Pick up the shiny red bottle 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 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 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.",
+    "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.",
+    "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 cylindrical bottle with label 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.",
+    "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 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 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 shiny red bottle, 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 lightweight plastic brown bottle together.",
+    "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 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.",
+    "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 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 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.",
+    "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.",
+    "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 brown bottle with the other.",
+    "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.",
+    "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 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 lightweight plastic brown bottle at once.",
+    "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."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode25.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to pick up the red bottle with curved grooves and the bottle with brown body and white top.",
+    "Assign one arm to catch the red bottle with narrow neck, one for the medium plastic bottle.",
+    "Use each arm to lift the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "One arm grabs the bottle with red cap; the other arm grabs the smooth brown bottle.",
+    "Grab the plastic bottle, pick up the plastic bottle for liquids.",
+    "Pick up both the red bottle with curved grooves and the smooth brown bottle together.",
+    "With two arms, catch both the plastic bottle and the bottle with dark brown color.",
+    "Lift both the plastic bottle with bright red color and the bottle with dark brown color simultaneously.",
+    "Grab the red bottle with narrow neck with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Grab the smooth red cylindrical bottle and pick up the medium plastic bottle.",
+    "Use one arm for the red bottle with screw cap, another for the bottle with white cap.",
+    "Hold the red bottle with screw cap in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Grab and hold the medium-size plastic bottle, then grab the handheld brown bottle with white lid.",
+    "With both arms, pick up the yellow text bottle, then the bottle with dark brown color.",
+    "Pick both the handheld plastic bottle and the bottle with dark brown color one after another.",
+    "Secure the red bottle with narrow neck and the smooth brown bottle in succession.",
+    "Catch the yellow text bottle in one arm and the bottle with white cap in the other arm.",
+    "Secure both the smooth red cylindrical bottle and the smooth brown bottle quickly.",
+    "Let each arm grab either the red bottle with white bottom text or the cylindrical bottle with narrow neck.",
+    "Collect the plastic bottle with bright red color, then pick up the bottle with white cap.",
+    "Hold onto the bottle with red cap, then pick up the smooth brown bottle.",
+    "Pick up the handheld plastic bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Hold the yellow text bottle in one arm, the medium bottle with smooth texture in the other.",
+    "Use both arms to lift the plastic bottle and the medium bottle with smooth texture.",
+    "Use both arms to pick up the red bottle with white bottom text and the smooth brown bottle.",
+    "Catch the red bottle with screw cap with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Secure the smooth red cylindrical bottle, then secure the bottle with white cap.",
+    "Catch the red bottle with curved grooves, then take hold of the bottle with dark brown color.",
+    "Pick up the handheld plastic bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Catch both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck quickly.",
+    "Grab the medium-size plastic bottle with one arm, the plastic bottle with printed label with the other.",
+    "Catch the smooth red cylindrical bottle, then grab the cylindrical bottle with narrow neck too.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the plastic bottle for liquids.",
+    "Lift the red bottle with curved grooves and also take hold of the white-capped brown cylindrical bottle.",
+    "Pick up both the red bottle with narrow neck and the cylindrical bottle with narrow neck.",
+    "Catch the yellow text bottle, grab the bottle with brown body and white top next.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the bottle with white cap with the other.",
+    "Take hold of the bottle with red cap and the plastic bottle with printed label.",
+    "Assign one arm to each of the yellow text bottle and the bottle with dark brown color.",
+    "Grasp the handheld plastic bottle first, then take the handheld brown bottle with white lid.",
+    "Use one arm for the bottle with red cap, the other for the white-capped brown cylindrical bottle.",
+    "Hold onto the red bottle with curved grooves and then get the bottle with dark brown color.",
+    "Grab the red bottle with white bottom text using one arm and the bottle with dark brown color using the other.",
+    "Lift the bottle with red cap and the bottle with brown body and white top with separate arms.",
+    "Use one arm for the plastic bottle with bright red color and the other for the medium bottle with smooth texture.",
+    "Lift the red bottle, continue and pick up the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with white bottom text with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Hold both the yellow text bottle and the white-capped brown cylindrical bottle.",
+    "Grab the smooth red cylindrical bottle using an arm and the medium plastic bottle with the other arm.",
+    "Catch the bottle with red cap, then catch the smooth brown bottle.",
+    "Use both arms to pick up 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 bottle with white cap.",
+    "Use each arm to lift the smooth red cylindrical 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.",
+    "Grab the bottle with red cap, pick up the smooth brown bottle.",
+    "Pick up both the red bottle and the medium bottle with smooth texture together.",
+    "With two arms, catch both the bottle with red cap and the medium plastic bottle.",
+    "Lift both the plastic bottle with bright red color and the plastic bottle for liquids simultaneously.",
+    "Grab the plastic bottle with one arm, the smooth brown bottle with the other.",
+    "Grab the handheld plastic bottle and pick up the bottle with white cap.",
+    "Use one arm for the medium-size plastic bottle, another for the bottle with brown body and white top.",
+    "Hold the red bottle with screw cap in one arm, catch the medium plastic bottle with the other arm.",
+    "Grab and hold the plastic bottle, then grab the bottle with white cap.",
+    "With both arms, pick up the red bottle with screw cap, then the medium plastic bottle.",
+    "Pick both the smooth red cylindrical bottle and the smooth brown bottle one after another.",
+    "Secure the smooth red cylindrical bottle and the rounded bottle with printed details in succession.",
+    "Catch the red bottle with screw cap in one arm and the white-capped brown cylindrical bottle in the other arm.",
+    "Secure both the plastic bottle and the medium plastic bottle quickly.",
+    "Let each arm grab either the bottle with red cap or the bottle with white cap.",
+    "Collect the red bottle with narrow neck, then pick up the handheld brown bottle with white lid.",
+    "Hold onto the red bottle, then pick up the bottle with brown body and white top.",
+    "Pick up the red bottle with white bottom text and then pick up the smooth brown bottle.",
+    "Hold the red bottle in one arm, the plastic bottle for liquids in the other.",
+    "Use both arms to lift the red bottle and the plastic bottle for liquids.",
+    "Use both arms to pick up the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Catch the plastic bottle with one arm, the smooth brown bottle with another arm.",
+    "Secure the medium-size plastic bottle, then secure the bottle with brown body and white top.",
+    "Catch the red bottle with narrow neck, then take hold of the bottle with white cap.",
+    "Pick up the bottle with red cap, then pick up the cylindrical bottle with narrow neck.",
+    "Catch both the plastic bottle with bright red color and the bottle with dark brown color quickly.",
+    "Grab the bottle with red cap with one arm, the bottle with brown body and white top with the other.",
+    "Catch the bottle with red cap, then grab the smooth brown bottle too.",
+    "Each arm should pick up one: the bottle with red cap, then the medium bottle with smooth texture.",
+    "Lift the red bottle with curved grooves and also take hold of the smooth brown bottle.",
+    "Pick up both the medium-size plastic bottle and the bottle with brown body and white top.",
+    "Catch the red bottle with narrow neck, grab the bottle with white cap next.",
+    "Lift both bottles, the yellow text bottle with one arm, the plastic bottle for liquids with the other.",
+    "Take hold of the bottle with red cap and the rounded bottle with printed details.",
+    "Assign one arm to each of the handheld plastic bottle and the plastic bottle for liquids.",
+    "Grasp the red bottle with curved grooves first, then take the cylindrical bottle with narrow neck.",
+    "Use one arm for the handheld plastic bottle, the other for the smooth brown bottle.",
+    "Hold onto the red bottle and then get the bottle with white cap.",
+    "Grab the bottle with red cap using one arm and the plastic bottle for liquids using the other.",
+    "Lift the medium-size plastic bottle and the medium bottle with smooth texture with separate arms.",
+    "Use one arm for the red bottle and the other for the bottle with white cap.",
+    "Lift the red bottle with curved grooves, continue and pick up the smooth brown bottle.",
+    "Hold the red bottle with narrow neck with one arm, hold the medium plastic bottle with the other.",
+    "Hold both the yellow text bottle and the bottle with brown body and white top.",
+    "Grab the handheld plastic bottle using an arm and the bottle with white cap with the other arm.",
+    "Catch the plastic bottle, then catch the cylindrical bottle with narrow neck."
+  ],
+  "unseen": [
+    "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 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 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 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.",
+    "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 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 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 shiny red bottle and grab the brown bottle 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 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 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 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 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.",
+    "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.",
+    "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 yellow Chinese characters, 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 brown bottle.",
+    "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.",
+    "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 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 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 yellow Chinese characters, 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.",
+    "Use each arm to grab the bottle with yellow Chinese characters and 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 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 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.",
+    "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.",
+    "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 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 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 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 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 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 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.",
+    "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 yellow Chinese characters and the brown bottle together.",
+    "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 lightweight plastic brown bottle with the other.",
+    "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 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 lightweight plastic 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 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 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 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.",
+    "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 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 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 cylindrical bottle with label together.",
+    "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.",
+    "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 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 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.",
+    "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 lightweight plastic brown bottle at the same time.",
+    "Pick up the bottle with white and yellow label and the brown bottle together."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode26.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to pick up the smooth red cylindrical bottle and the medium bottle with smooth texture.",
+    "Grab the red bottle with curved grooves using one arm and the bottle with white cap using the other.",
+    "Each arm should pick up one: the plastic bottle, then the smooth brown bottle.",
+    "Hold the yellow text bottle with one arm, hold the plastic bottle for liquids with the other.",
+    "Pick up both the bottle with red cap and the handheld brown bottle with white lid together.",
+    "Collect the yellow text bottle, then pick up the bottle with dark brown color.",
+    "Grasp the plastic bottle with bright red color first, then take the plastic bottle with printed label.",
+    "Catch the red bottle with screw cap in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Catch the red bottle with narrow neck with one arm, the medium bottle with smooth texture with another arm.",
+    "Use one arm for the red bottle with white bottom text and the other for the medium bottle with smooth texture.",
+    "Let each arm grab either the red bottle or the rounded bottle with printed details.",
+    "Lift both the red bottle with white bottom text and the medium bottle with smooth texture simultaneously.",
+    "Lift the red bottle with narrow neck and the medium plastic bottle with separate arms.",
+    "Hold the plastic bottle with bright red color in one arm, the rounded bottle with printed details in the other.",
+    "Lift the plastic bottle, continue and pick up the medium bottle with smooth texture.",
+    "With two arms, catch both the red bottle with narrow neck and the bottle with dark brown color.",
+    "With both arms, pick up the bottle with red cap, then the plastic bottle for liquids.",
+    "Catch the handheld plastic bottle, grab the rounded bottle with printed details next.",
+    "Pick up the red bottle with screw cap, then pick up the plastic bottle for liquids.",
+    "Hold onto the red bottle, then pick up the bottle with brown body and white top.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the bottle with dark brown color with the other arm.",
+    "Assign one arm to each of the red bottle with curved grooves and the medium bottle with smooth texture.",
+    "Hold both the bottle with red cap and the medium bottle with smooth texture.",
+    "Secure both the plastic bottle and the plastic bottle with printed label quickly.",
+    "Hold onto the smooth red cylindrical bottle and then get the plastic bottle with printed label.",
+    "One arm grabs the yellow text bottle; the other arm grabs the medium bottle with smooth texture.",
+    "Pick up the red bottle with curved grooves and then pick up the cylindrical bottle with narrow neck.",
+    "Secure the smooth red cylindrical bottle, then secure the bottle with brown body and white top.",
+    "Grab the handheld plastic bottle with one arm, the bottle with white cap with the other.",
+    "Use each arm to lift the red bottle with screw cap and the plastic bottle for liquids.",
+    "Grab the red bottle with white bottom text, pick up the plastic bottle with printed label.",
+    "Grab the red bottle with white bottom text with one arm, the medium bottle with smooth texture with the other.",
+    "Catch the plastic bottle, then take hold of the smooth brown bottle.",
+    "Assign one arm to catch the plastic bottle with bright red color, one for the plastic bottle for liquids.",
+    "Catch the red bottle with curved grooves, then grab the cylindrical bottle with narrow neck too.",
+    "Catch both the red bottle and the plastic bottle with printed label quickly.",
+    "Use both arms to pick up the red bottle and the smooth brown bottle.",
+    "Pick up both the red bottle with white bottom text and the rounded bottle with printed details.",
+    "Grab and hold the red bottle with screw cap, then grab the medium plastic bottle.",
+    "Grab the red bottle using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Lift the smooth red cylindrical bottle and also take hold of the bottle with dark brown color.",
+    "Take hold of the handheld plastic bottle and the smooth brown bottle.",
+    "Catch the plastic bottle with bright red color, then catch the rounded bottle with printed details.",
+    "Pick both the red bottle with curved grooves and the bottle with white cap one after another.",
+    "Secure the plastic bottle and the plastic bottle with printed label in succession.",
+    "Use one arm for the plastic bottle with bright red color, another for the medium bottle with smooth texture.",
+    "Use one arm for the plastic bottle with bright red color, the other for the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with white bottom text and pick up the white-capped brown cylindrical bottle.",
+    "Use both arms to lift the red bottle with screw cap and the smooth brown bottle.",
+    "Lift both bottles, the red bottle with one arm, the plastic bottle with printed label with the other.",
+    "Use both arms to pick up the bottle with red cap and the medium bottle with smooth texture.",
+    "Grab the bottle with red cap using one arm and the bottle with white cap using the other.",
+    "Each arm should pick up one: the bottle with red cap, then the plastic bottle with printed label.",
+    "Hold the medium-size plastic bottle with one arm, hold the handheld brown bottle with white lid with the other.",
+    "Pick up both the yellow text bottle and the bottle with dark brown color together.",
+    "Collect the red bottle with narrow neck, then pick up the plastic bottle with printed label.",
+    "Grasp the plastic bottle first, then take the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with narrow neck in one arm and the white-capped brown cylindrical bottle in the other arm.",
+    "Catch the bottle with red cap with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Use one arm for the bottle with red cap and the other for the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the plastic bottle with bright red color or the bottle with white cap.",
+    "Lift both the bottle with red cap and the cylindrical bottle with narrow neck simultaneously.",
+    "Lift the yellow text bottle and the medium bottle with smooth texture with separate arms.",
+    "Hold the yellow text bottle in one arm, the bottle with dark brown color in the other.",
+    "Lift the plastic bottle with bright red color, continue and pick up the rounded bottle with printed details.",
+    "With two arms, catch both the red bottle with screw cap and the bottle with white cap.",
+    "With both arms, pick up the red bottle with screw cap, then the plastic bottle with printed label.",
+    "Catch the handheld plastic bottle, grab the rounded bottle with printed details next.",
+    "Pick up the red bottle with white bottom text, then pick up the rounded bottle with printed details.",
+    "Hold onto the red bottle with white bottom text, then pick up the rounded bottle with printed details.",
+    "Hold the yellow text bottle in one arm, catch the white-capped brown cylindrical bottle with the other arm.",
+    "Assign one arm to each of the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Hold both the yellow text bottle and the smooth brown bottle.",
+    "Secure both the red bottle with screw cap and the smooth brown bottle quickly.",
+    "Hold onto the bottle with red cap and then get the plastic bottle with printed label.",
+    "One arm grabs the red bottle with screw cap; the other arm grabs the rounded bottle with printed details.",
+    "Pick up the red bottle with narrow neck and then pick up the bottle with brown body and white top.",
+    "Secure the handheld plastic bottle, then secure the bottle with white cap.",
+    "Grab the handheld 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 smooth brown bottle.",
+    "Grab the red bottle with narrow neck, pick up the rounded bottle with printed details.",
+    "Grab the red bottle with curved grooves with one arm, the medium bottle with smooth texture with the other.",
+    "Catch the plastic bottle with bright red color, then take hold of the plastic bottle with printed label.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the plastic bottle with printed label.",
+    "Catch the plastic bottle, then grab the plastic bottle for liquids too.",
+    "Catch both the medium-size plastic bottle and the plastic bottle with printed label quickly.",
+    "Use both arms to pick up the handheld plastic bottle and the bottle with dark brown color.",
+    "Pick up both the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Grab and hold the handheld plastic bottle, then grab the rounded bottle with printed details.",
+    "Grab the medium-size plastic bottle using an arm and the smooth brown bottle with the other arm.",
+    "Lift the medium-size plastic bottle and also take hold of the bottle with dark brown color.",
+    "Take hold of the red bottle with narrow neck and the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with screw cap, then catch the rounded bottle with printed details.",
+    "Pick both the plastic bottle and the plastic bottle with printed label one after another.",
+    "Secure the handheld plastic bottle and the white-capped brown cylindrical bottle in succession.",
+    "Use one arm for the red bottle, another for the rounded bottle with printed details.",
+    "Use one arm for the red bottle with curved grooves, the other for the bottle with brown body and white top.",
+    "Grab the yellow text bottle and pick up the bottle with dark brown color.",
+    "Use both arms to lift the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Lift both bottles, the smooth red cylindrical bottle with one arm, the bottle with dark brown color with the other."
+  ],
+  "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 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 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 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 the bottle with yellow Chinese characters and take the brown bottle together.",
+    "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 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 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 shiny red bottle 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 lift a bottle: the bottle with white and yellow label, then the lightweight plastic brown bottle.",
+    "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 lightweight plastic brown bottle together.",
+    "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 brown bottle with the other.",
+    "Pick up 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.",
+    "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 lightweight plastic 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 the shiny red bottle 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 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 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 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.",
+    "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 brown cylindrical bottle with label together.",
+    "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 cylindrical bottle with label 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 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 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.",
+    "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 lightweight plastic brown bottle together.",
+    "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 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 bottle with yellow Chinese characters and the brown bottle.",
+    "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 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 take the 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 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 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 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 bottle with white and yellow label, then 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 brown cylindrical bottle with label together.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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 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 white and yellow label 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.",
+    "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 bottle with yellow Chinese characters and the brown bottle together.",
+    "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 lightweight plastic brown bottle.",
+    "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.",
+    "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 brown bottle at the same time.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "Pick up both the shiny red bottle and the brown bottle together."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode27.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the red bottle with curved grooves in one arm and the bottle with brown body and white top in the other arm.",
+    "Secure both the bottle with red cap and the medium plastic bottle quickly.",
+    "Grab the plastic bottle using one arm and the medium bottle with smooth texture using the other.",
+    "Assign one arm to each of the handheld plastic bottle and the bottle with white cap.",
+    "Secure the red bottle with screw cap and the cylindrical bottle with narrow neck in succession.",
+    "Use one arm for the plastic bottle with bright red color, another for the handheld brown bottle with white lid.",
+    "Lift the handheld plastic bottle, continue and pick up the handheld brown bottle with white lid.",
+    "Hold onto the bottle with red cap and then get the bottle with brown body and white top.",
+    "Use one arm for the yellow text bottle and the other for the bottle with dark brown color.",
+    "Use both arms to pick up the yellow text bottle and the plastic bottle with printed label.",
+    "Pick up both the plastic bottle and the plastic bottle with printed label together.",
+    "Lift both the smooth red cylindrical bottle and the medium plastic bottle simultaneously.",
+    "Catch the yellow text bottle, grab the bottle with white cap next.",
+    "Catch the red bottle with narrow neck with one arm, the rounded bottle with printed details with another arm.",
+    "Pick both the handheld plastic bottle and the plastic bottle for liquids one after another.",
+    "Grab the red bottle with narrow neck, pick up the bottle with dark brown color.",
+    "Hold both the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Catch the smooth red cylindrical bottle, then catch the bottle with white cap.",
+    "Catch the medium-size plastic bottle, then grab the plastic bottle for liquids too.",
+    "Take hold of the smooth red cylindrical bottle and the cylindrical bottle with narrow neck.",
+    "Grab the medium-size plastic bottle using an arm and the medium plastic bottle with the other arm.",
+    "Lift the red bottle with white bottom text and also take hold of the bottle with dark brown color.",
+    "Grab and hold the handheld plastic bottle, then grab the plastic bottle for liquids.",
+    "Use each arm to lift the red bottle with narrow neck and the plastic bottle with printed label.",
+    "Grab the red bottle with white bottom text with one arm, the bottle with dark brown color with the other.",
+    "Pick up the handheld plastic bottle and then pick up the handheld brown bottle with white lid.",
+    "Use both arms to pick up the bottle with red cap and the plastic bottle for liquids.",
+    "Use both arms to lift the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the yellow text bottle or the medium plastic bottle.",
+    "Hold onto the plastic bottle with bright red color, then pick up the plastic bottle with printed label.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the handheld brown bottle with white lid.",
+    "Use one arm for the red bottle with narrow neck, the other for the plastic bottle for liquids.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the handheld brown bottle with white lid.",
+    "Catch the plastic bottle with bright red color, then take hold of the bottle with dark brown color.",
+    "Grab the plastic bottle and pick up the medium plastic bottle.",
+    "Catch both the medium-size plastic bottle and the white-capped brown cylindrical bottle quickly.",
+    "Hold the red bottle with narrow neck with one arm, hold the smooth brown bottle with the other.",
+    "Hold the plastic bottle in one arm, the plastic bottle with printed label in the other.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the plastic bottle for liquids.",
+    "Lift both bottles, the yellow text bottle 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.",
+    "Secure the red bottle with white bottom text, then secure the medium plastic bottle.",
+    "With two arms, catch both the plastic bottle and the medium bottle with smooth texture.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the bottle with dark brown color.",
+    "Hold the bottle with red cap in one arm, catch the bottle with dark brown color with the other arm.",
+    "Pick up both the bottle with red cap and the bottle with dark brown color.",
+    "Collect the red bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Grasp the medium-size plastic bottle first, then take the plastic bottle with printed label.",
+    "Grab the plastic bottle with bright red color with one arm, the plastic bottle for liquids with the other.",
+    "Lift the red bottle with screw cap and the plastic bottle with printed label with separate arms.",
+    "Catch the yellow text bottle in one arm and the medium plastic bottle in the other arm.",
+    "Secure both the red bottle with white bottom text and the white-capped brown cylindrical bottle quickly.",
+    "Grab the red bottle with curved grooves using one arm and the medium bottle with smooth texture using the other.",
+    "Assign one arm to each of the plastic bottle with bright red color and the smooth brown bottle.",
+    "Secure the red bottle with screw cap and the plastic bottle for liquids in succession.",
+    "Use one arm for the red bottle with white bottom text, another for the bottle with white cap.",
+    "Lift the bottle with red cap, continue and pick up the cylindrical bottle with narrow neck.",
+    "Hold onto the red bottle and then get the white-capped brown cylindrical bottle.",
+    "Use one arm for the red bottle with narrow neck and the other for the medium bottle with smooth texture.",
+    "Use both arms to pick up the yellow text bottle and the bottle with brown body and white top.",
+    "Pick up both the plastic bottle and the plastic bottle with printed label together.",
+    "Lift both the plastic bottle with bright red color and the handheld brown bottle with white lid simultaneously.",
+    "Catch the red bottle with curved grooves, grab the bottle with brown body and white top next.",
+    "Catch the red bottle with one arm, the smooth brown bottle with another arm.",
+    "Pick both the red bottle with screw cap and the cylindrical bottle with narrow neck one after another.",
+    "Grab the red bottle with curved grooves, pick up the bottle with dark brown color.",
+    "Hold both the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Catch the red bottle, then catch the medium plastic bottle.",
+    "Catch the red bottle with curved grooves, then grab the rounded bottle with printed details too.",
+    "Take hold of the smooth red cylindrical bottle and the handheld brown bottle with white lid.",
+    "Grab the red bottle with white bottom text using an arm and the plastic bottle for liquids with the other arm.",
+    "Lift the bottle with red cap and also take hold of the cylindrical bottle with narrow neck.",
+    "Grab and hold the red bottle with narrow neck, then grab the rounded bottle with printed details.",
+    "Use each arm to lift the plastic bottle and the rounded bottle with printed details.",
+    "Grab the smooth red cylindrical bottle with one arm, the smooth brown bottle with the other.",
+    "Pick up the handheld plastic bottle and then pick up the medium plastic bottle.",
+    "Use both arms to pick up the red bottle and the medium bottle with smooth texture.",
+    "Use both arms to lift the red bottle with screw cap and the medium bottle with smooth texture.",
+    "Let each arm grab either the plastic bottle with bright red color or the rounded bottle with printed details.",
+    "Hold onto the plastic bottle, then pick up the plastic bottle for liquids.",
+    "Assign one arm to catch the yellow text bottle, one for 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.",
+    "With both arms, pick up the red bottle with narrow neck, then the bottle with white cap.",
+    "Catch the bottle with red cap, then take hold of the bottle with dark brown color.",
+    "Grab the plastic bottle with bright red color and pick up the smooth brown bottle.",
+    "Catch both the medium-size plastic bottle and the bottle with dark brown color quickly.",
+    "Hold the handheld plastic bottle with one arm, hold the bottle with dark brown color with the other.",
+    "Hold the handheld plastic bottle in one arm, the plastic bottle for liquids in the other.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the cylindrical bottle with narrow neck.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the medium bottle with smooth texture with the other.",
+    "Pick up the plastic bottle, then pick up the bottle with brown body and white top.",
+    "Secure the yellow text bottle, then secure the smooth brown bottle.",
+    "With two arms, catch both the red bottle with narrow neck and the plastic bottle with printed label.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the bottle with dark brown color.",
+    "Hold the medium-size plastic bottle in one arm, catch the rounded bottle with printed details with the other arm.",
+    "Pick up both the handheld plastic bottle and the bottle with dark brown color.",
+    "Collect the red bottle with curved grooves, then pick up the medium bottle with smooth texture.",
+    "Grasp the red bottle with narrow neck first, then take the medium bottle with smooth texture.",
+    "Grab the plastic bottle with bright red color with one arm, the plastic bottle with printed label with the other.",
+    "Lift the medium-size plastic bottle and the smooth brown bottle with separate arms."
+  ],
+  "unseen": [
+    "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 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 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 lightweight plastic brown bottle.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 bottle at once.",
+    "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 take the lightweight plastic 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 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.",
+    "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 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 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 bottle.",
+    "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 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.",
+    "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 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.",
+    "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 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 the bottle with yellow Chinese characters 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 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 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 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 cylindrical bottle with label.",
+    "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 the shiny red bottle 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 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.",
+    "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 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.",
+    "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 take the brown cylindrical bottle with label together.",
+    "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.",
+    "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 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 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 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 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 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 lightweight plastic brown bottle together.",
+    "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 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.",
+    "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.",
+    "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 take 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 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.",
+    "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.",
+    "Use each arm to grab the shiny red bottle and the brown cylindrical bottle with label.",
+    "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 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 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.",
+    "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 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 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 grab the brown bottle at once.",
+    "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 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.",
+    "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."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode28.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use each arm to lift the red bottle and the medium bottle with smooth texture.",
+    "Take hold of the handheld plastic bottle and the bottle with white cap.",
+    "Use one arm for the handheld plastic bottle, the other for the plastic bottle with printed label.",
+    "Catch the red bottle with white bottom text, then catch the smooth brown bottle.",
+    "Secure the plastic bottle and the bottle with white cap in succession.",
+    "Hold the medium-size plastic bottle with one arm, hold the medium bottle with smooth texture with the other.",
+    "Assign one arm to catch the medium-size plastic bottle, one for the cylindrical bottle with narrow neck.",
+    "Hold the red bottle with screw cap in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Hold both the red bottle and the plastic bottle with printed label.",
+    "Use both arms to lift the plastic bottle and the bottle with dark brown color.",
+    "Lift the red bottle with white bottom text and also take hold of the medium plastic bottle.",
+    "Each arm should pick up one: the plastic bottle, then the plastic bottle for liquids.",
+    "Grab the red bottle, pick up the smooth brown bottle.",
+    "Grab the yellow text 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 medium bottle with smooth texture.",
+    "Grasp the medium-size plastic bottle first, then take the handheld brown bottle with white lid.",
+    "Use one arm for the red bottle with screw cap and the other for the bottle with brown body and white top.",
+    "Grab the plastic bottle using an arm and the smooth brown bottle with the other arm.",
+    "Pick up both the red bottle and the medium bottle with smooth texture together.",
+    "Assign one arm to each of the yellow text bottle and 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 red bottle with narrow neck and pick up the bottle with dark brown color.",
+    "Lift both the plastic bottle and the bottle with white cap simultaneously.",
+    "One arm grabs the smooth red cylindrical bottle; the other arm grabs the bottle with white cap.",
+    "Catch the plastic bottle, grab the plastic bottle for liquids next.",
+    "Use both arms to pick up the plastic bottle and the handheld brown bottle with white lid.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the handheld brown bottle with white lid with the other.",
+    "Hold the bottle with red cap in one arm, catch the handheld brown bottle with white lid with the other arm.",
+    "Catch the handheld plastic bottle with one arm, the medium plastic bottle with another arm.",
+    "Let each arm grab either the red bottle with curved grooves or the handheld brown bottle with white lid.",
+    "With two arms, catch both the bottle with red cap and the medium plastic bottle.",
+    "Catch both the red bottle with white bottom text and the plastic bottle with printed label quickly.",
+    "Hold onto the red bottle with narrow neck and then get the medium bottle with smooth texture.",
+    "Pick up both the medium-size plastic bottle and the plastic bottle for liquids.",
+    "Use one arm for the red bottle with narrow neck, another for the cylindrical bottle with narrow neck.",
+    "Hold onto the medium-size plastic bottle, then pick up the smooth brown bottle.",
+    "Lift the medium-size plastic bottle, continue and pick up the medium bottle with smooth texture.",
+    "Grab the medium-size plastic bottle with one arm, the bottle with white cap with the other.",
+    "With both arms, pick up the red bottle with curved grooves, then the plastic bottle with printed label.",
+    "Catch the red bottle, then take hold of the bottle with dark brown color.",
+    "Catch the plastic bottle with bright red color, then grab the rounded bottle with printed details too.",
+    "Grab and hold the red bottle, then grab the smooth brown bottle.",
+    "Catch the handheld plastic bottle in one arm and the bottle with dark brown color in the other arm.",
+    "Grab the bottle with red cap using one arm and the smooth brown bottle using the other.",
+    "Use both arms to pick up the plastic bottle and the white-capped brown cylindrical bottle.",
+    "Secure the red bottle, then secure the plastic bottle with printed label.",
+    "Pick up the handheld plastic bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Pick both the red bottle with white bottom text and the rounded bottle with printed details one after another.",
+    "Lift the smooth red cylindrical bottle and the smooth brown bottle with separate arms.",
+    "Secure both the plastic bottle with bright red color and the bottle with dark brown color quickly.",
+    "Use each arm to lift the red bottle with white bottom text and the rounded bottle with printed details.",
+    "Take hold of the smooth red cylindrical bottle and the medium bottle with smooth texture.",
+    "Use one arm for the handheld plastic bottle, the other for the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with white bottom text, then catch the medium bottle with smooth texture.",
+    "Secure the bottle with red cap and the medium bottle with smooth texture in succession.",
+    "Hold the red bottle with screw cap with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Assign one arm to catch the red bottle with white bottom text, one for the bottle with dark brown color.",
+    "Hold the smooth red cylindrical bottle in one arm, the handheld brown bottle with white lid in the other.",
+    "Hold both the red bottle with curved grooves and the handheld brown bottle with white lid.",
+    "Use both arms to lift the smooth red cylindrical bottle and the medium plastic bottle.",
+    "Lift the handheld plastic bottle and also take hold of the medium plastic bottle.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the bottle with dark brown color.",
+    "Grab the yellow text bottle, pick up the bottle with dark brown color.",
+    "Grab the handheld plastic bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Collect the yellow text bottle, then pick up the medium bottle with smooth texture.",
+    "Grasp the red bottle with white bottom text first, then take the white-capped brown cylindrical bottle.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the rounded bottle with printed details.",
+    "Grab the red bottle with narrow neck using an arm and the plastic bottle with printed label with the other arm.",
+    "Pick up both the medium-size plastic bottle and the bottle with dark brown color together.",
+    "Assign one arm to each of the medium-size plastic bottle and the medium plastic bottle.",
+    "Pick up the smooth red cylindrical bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Grab the handheld plastic bottle and pick up the medium plastic bottle.",
+    "Lift both the red bottle and the bottle with dark brown color simultaneously.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the medium bottle with smooth texture.",
+    "Catch the red bottle with white bottom text, grab the bottle with brown body and white top next.",
+    "Use both arms to pick up the red bottle with screw cap and the white-capped brown cylindrical bottle.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Hold the handheld plastic bottle in one arm, catch the bottle with dark brown color with the other arm.",
+    "Catch the red bottle with screw cap with one arm, the bottle with dark brown color with another arm.",
+    "Let each arm grab either the red bottle with narrow neck or the plastic bottle with printed label.",
+    "With two arms, catch both the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "Catch both the bottle with red cap and the medium plastic bottle quickly.",
+    "Hold onto the bottle with red cap and then get the rounded bottle with printed details.",
+    "Pick up both the handheld plastic bottle and the cylindrical bottle with narrow neck.",
+    "Use one arm for the red bottle with curved grooves, another for the bottle with white cap.",
+    "Hold onto the red bottle with screw cap, then pick up the bottle with brown body and white top.",
+    "Lift the red bottle with narrow neck, continue and pick up the smooth brown bottle.",
+    "Grab the red bottle with screw cap 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 rounded bottle with printed details.",
+    "Catch the smooth red cylindrical bottle, then take hold of the handheld brown bottle with white lid.",
+    "Catch the red bottle with screw cap, then grab the handheld brown bottle with white lid too.",
+    "Grab and hold the red bottle, then grab the cylindrical bottle with narrow neck.",
+    "Catch the yellow text bottle in one arm and the bottle with white cap in the other arm.",
+    "Grab the smooth red cylindrical bottle using one arm and the bottle with brown body and white top using the other.",
+    "Use both arms to pick up the handheld plastic bottle and the smooth brown bottle.",
+    "Secure the bottle with red cap, then secure the rounded bottle with printed details.",
+    "Pick up the red bottle with screw cap and then pick up the white-capped brown cylindrical bottle.",
+    "Pick both the handheld plastic bottle and the handheld brown bottle with white lid one after another.",
+    "Lift the red bottle with narrow neck and the bottle with dark brown color with separate arms.",
+    "Secure both the bottle with red cap and the white-capped brown cylindrical bottle quickly."
+  ],
+  "unseen": [
+    "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 bottle.",
+    "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 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.",
+    "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.",
+    "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 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 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 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.",
+    "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.",
+    "Grab the shiny red bottle and the lightweight plastic brown bottle at the same time.",
+    "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 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.",
+    "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 and the 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.",
+    "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 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.",
+    "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 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 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.",
+    "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.",
+    "Grab the bottle with yellow Chinese characters and the brown bottle 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 grab the brown bottle at once.",
+    "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.",
+    "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 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 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.",
+    "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 white and yellow label, then the brown bottle.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up 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 shiny red bottle 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 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 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 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 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 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 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 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 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 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 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.",
+    "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 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 with one arm, grab the brown bottle with the other.",
+    "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.",
+    "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 brown bottle at once.",
+    "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.",
+    "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.",
+    "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 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."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode29.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the red bottle using one arm and the medium plastic bottle using the other.",
+    "Use both arms to lift the plastic bottle and the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the medium-size plastic bottle, then the cylindrical bottle with narrow neck.",
+    "Pick up both the bottle with red cap and the rounded bottle with printed details together.",
+    "Hold the handheld plastic bottle with one arm, hold the bottle with white cap with the other.",
+    "Use one arm for the plastic bottle with bright red color, the other for the plastic bottle for liquids.",
+    "Catch the smooth red cylindrical bottle, then catch the rounded bottle with printed details.",
+    "Secure both the red bottle and the plastic bottle with printed label quickly.",
+    "Grab the smooth red cylindrical bottle with one arm, the bottle with dark brown color with the other.",
+    "Hold onto the red bottle, then pick up the medium bottle with smooth texture.",
+    "Use one arm for the plastic bottle with bright red color, another for the rounded bottle with printed details.",
+    "Catch the red bottle with narrow neck, then grab the medium plastic bottle too.",
+    "Lift the yellow text bottle and the bottle with brown body and white top with separate arms.",
+    "Secure the red bottle with narrow neck, then secure the white-capped brown cylindrical bottle.",
+    "Grab the medium-size plastic bottle, pick up the bottle with white cap.",
+    "Assign one arm to catch the red bottle with curved grooves, one for the handheld brown bottle with white lid.",
+    "Grasp the red bottle with narrow neck first, then take the medium bottle with smooth texture.",
+    "Lift the plastic bottle with bright red color, continue and pick up the smooth brown bottle.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the plastic bottle with printed label with the other.",
+    "Pick up the red bottle and then pick up the cylindrical bottle with narrow neck.",
+    "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 narrow neck and pick up the plastic bottle with printed label.",
+    "Take hold of the yellow text bottle and the plastic bottle for liquids.",
+    "Each arm should pick up one: the handheld plastic bottle, then the bottle with white cap.",
+    "Catch the plastic bottle with bright red color, grab the white-capped brown cylindrical bottle next.",
+    "Assign one arm to each of the red bottle with curved grooves and the bottle with white cap.",
+    "Lift both the red bottle with narrow neck and the plastic bottle for liquids simultaneously.",
+    "With two arms, catch both the red bottle and the bottle with white cap.",
+    "Grab the plastic bottle with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Secure the handheld plastic bottle and the plastic bottle for liquids in succession.",
+    "Pick both the medium-size plastic bottle and the medium plastic bottle one after another.",
+    "Catch the yellow text bottle with one arm, the rounded bottle with printed details with another arm.",
+    "Collect the red bottle with white bottom text, then pick up the bottle with white cap.",
+    "One arm grabs the yellow text bottle; the other arm grabs the medium bottle with smooth texture.",
+    "Grab the red bottle using an arm and the plastic bottle with printed label with the other arm.",
+    "Grab and hold the red bottle with narrow neck, then grab the bottle with dark brown color.",
+    "Use both arms to pick up the yellow text bottle and the plastic bottle for liquids.",
+    "Hold onto the red bottle and then get the bottle with dark brown color.",
+    "Use one arm for the red bottle with screw cap and the other for the white-capped brown cylindrical bottle.",
+    "Catch the yellow text bottle in one arm and the bottle with white cap in the other arm.",
+    "Pick up the red bottle with curved grooves, then pick up the medium plastic bottle.",
+    "Let each arm grab either the red bottle with screw cap or the plastic bottle for liquids.",
+    "Catch the yellow text bottle, then take hold of the medium bottle with smooth texture.",
+    "Lift the medium-size plastic bottle and also take hold of the cylindrical bottle with narrow neck.",
+    "Hold both the yellow text bottle and the medium bottle with smooth texture.",
+    "Hold the plastic bottle in one arm, the rounded bottle with printed details in the other.",
+    "Use each arm to lift the red bottle with curved grooves and the handheld brown bottle with white lid.",
+    "Pick up both the plastic bottle and the smooth brown bottle.",
+    "Catch both the red bottle with screw cap and the rounded bottle with printed details quickly.",
+    "Hold the red bottle with screw cap in one arm, catch the bottle with white cap with the other arm.",
+    "Grab the red bottle with narrow neck using one arm and the bottle with dark brown color using the other.",
+    "Use both arms to lift the red bottle with curved grooves and the plastic bottle for liquids.",
+    "With both arms, pick up the red bottle with screw cap, then the white-capped brown cylindrical bottle.",
+    "Pick up both the red bottle with white bottom text and the medium plastic bottle together.",
+    "Hold the red bottle with screw cap with one arm, hold the plastic bottle with printed label with the other.",
+    "Use one arm for the bottle with red cap, the other for the bottle with brown body and white top.",
+    "Catch the red bottle with screw cap, then catch the plastic bottle for liquids.",
+    "Secure both the red bottle with screw cap and the bottle with white cap quickly.",
+    "Grab the red bottle with white bottom text with one arm, the smooth brown bottle with the other.",
+    "Hold onto the handheld plastic bottle, then pick up the plastic bottle with printed label.",
+    "Use one arm for the medium-size plastic bottle, another for the bottle with dark brown color.",
+    "Catch the plastic bottle with bright red color, then grab the bottle with dark brown color too.",
+    "Lift the plastic bottle and the rounded bottle with printed details with separate arms.",
+    "Secure the red bottle with screw cap, then secure the bottle with brown body and white top.",
+    "Grab the red bottle with screw cap, pick up the white-capped brown cylindrical bottle.",
+    "Assign one arm to catch the plastic bottle, one for the bottle with dark brown color.",
+    "Grasp the plastic bottle first, then take the bottle with white cap.",
+    "Lift the plastic bottle, continue and pick up the plastic bottle with printed label.",
+    "Lift both bottles, the smooth red cylindrical bottle with one arm, the bottle with dark brown color with the other.",
+    "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 bottle with red cap and the plastic bottle with printed label.",
+    "Grab the red bottle with white bottom text and pick up the plastic bottle for liquids.",
+    "Take hold of the yellow text bottle and the handheld brown bottle with white lid.",
+    "Each arm should pick up one: the bottle with red cap, then the plastic bottle for liquids.",
+    "Catch the red bottle with screw cap, grab the plastic bottle for liquids next.",
+    "Assign one arm to each of the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Lift both the red bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "With two arms, catch both the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Grab the medium-size plastic bottle with one arm, the bottle with white cap with the other.",
+    "Secure the bottle with red cap and the bottle with white cap in succession.",
+    "Pick both the plastic bottle with bright red color and the medium bottle with smooth texture one after another.",
+    "Catch the red bottle with screw cap with one arm, the bottle with brown body and white top with another arm.",
+    "Collect the plastic bottle, then pick up the bottle with brown body and white top.",
+    "One arm grabs the red bottle; the other arm grabs the smooth brown bottle.",
+    "Grab the yellow text bottle using an arm and the bottle with dark brown color with the other arm.",
+    "Grab and hold the red bottle with screw cap, then grab the bottle with brown body and white top.",
+    "Use both arms to pick up the red bottle with white bottom text and the plastic bottle with printed label.",
+    "Hold onto the medium-size plastic bottle and then get the handheld brown bottle with white lid.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the bottle with dark brown color.",
+    "Catch the red bottle with screw cap in one arm and the medium plastic bottle in the other arm.",
+    "Pick up the red bottle with narrow neck, then pick up the bottle with brown body and white top.",
+    "Let each arm grab either the plastic bottle with bright red color or the plastic bottle for liquids.",
+    "Catch the red bottle with white bottom text, then take hold of the bottle with white cap.",
+    "Lift the yellow text bottle and also take hold of the medium bottle with smooth texture.",
+    "Hold both the yellow text bottle and the bottle with brown body and white top.",
+    "Hold the plastic bottle with bright red color in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Use each arm to lift the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Pick up both the red bottle with curved grooves and the cylindrical bottle with narrow neck.",
+    "Catch both the yellow text bottle and the rounded bottle with printed details quickly.",
+    "Hold the smooth red cylindrical bottle in one arm, catch the rounded bottle with printed details with the other arm."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "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 cylindrical bottle with label at once.",
+    "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 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 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 bottle using the other.",
+    "Use each arm to grab the bottle with yellow Chinese characters and 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 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 white and yellow label 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.",
+    "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.",
+    "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.",
+    "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 cylindrical bottle with label with the other.",
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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 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 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 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 cylindrical bottle with label.",
+    "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 white and yellow label 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.",
+    "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.",
+    "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 shiny red bottle 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 and the lightweight plastic brown bottle together.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "Grab 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 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 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.",
+    "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 lightweight plastic brown bottle.",
+    "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 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 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 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 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 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 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 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 bottle at once.",
+    "Pick up both the bottle with yellow Chinese characters and 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 and the brown cylindrical bottle with label together."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the yellow text bottle in one arm and the medium plastic bottle in the other arm.",
+    "Lift the red bottle and also take hold of the bottle with white cap.",
+    "Lift both bottles, the yellow text bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Use both arms to pick up the red bottle with screw cap and the white-capped brown cylindrical bottle.",
+    "Pick up both the red bottle with screw cap and the rounded bottle with printed details together.",
+    "Catch the handheld plastic bottle, then take hold of the plastic bottle for liquids.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the bottle with white cap with the other.",
+    "Use both arms to lift the yellow text bottle and the rounded bottle with printed details.",
+    "Secure the red bottle with narrow neck and the smooth brown bottle in succession.",
+    "Use one arm for the plastic bottle, the other for the rounded bottle with printed details.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the cylindrical bottle with narrow neck.",
+    "Grab the smooth red cylindrical bottle using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Hold the red bottle with white bottom text in one arm, the plastic bottle for liquids in the other.",
+    "Catch the medium-size plastic bottle, then grab the bottle with dark brown color too.",
+    "Hold onto the plastic bottle with bright red color and then get the bottle with brown body and white top.",
+    "Catch both the red bottle and the bottle with white cap quickly.",
+    "Grab the red bottle using one arm and the plastic bottle for liquids using the other.",
+    "Catch the handheld plastic bottle, then catch the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with white bottom text, grab the bottle with dark brown color next.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the medium-size plastic bottle, then the medium plastic bottle.",
+    "Secure both the red bottle with screw cap and the handheld brown bottle with white lid quickly.",
+    "Assign one arm to each of the yellow text bottle and the medium plastic bottle.",
+    "Grab the red bottle with white bottom text and pick up the bottle with dark brown color.",
+    "Use each arm to lift the plastic bottle with bright red color and the handheld brown bottle with white lid.",
+    "Pick up both the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Pick up the smooth red cylindrical bottle, then pick up the rounded bottle with printed details.",
+    "Lift both the red bottle with white bottom text and the bottle with white cap simultaneously.",
+    "Grab and hold the bottle with red cap, then grab 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 red bottle with screw cap, another for the smooth brown bottle.",
+    "Hold onto the plastic bottle with bright red color, then pick up the bottle with dark brown color.",
+    "Pick up the yellow text bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Take hold of the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Secure the smooth red cylindrical bottle, then secure the plastic bottle for liquids.",
+    "Grab the red bottle with narrow neck, pick up the plastic bottle with printed label.",
+    "Use both arms to pick up the handheld plastic bottle and the cylindrical bottle with narrow neck.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the white-capped brown cylindrical bottle.",
+    "Collect the smooth red cylindrical bottle, then pick up the plastic bottle with printed label.",
+    "Pick both the plastic bottle and the bottle with brown body and white top one after another.",
+    "Let each arm grab either the smooth red cylindrical bottle or the bottle with white cap.",
+    "Grab the handheld plastic bottle with one arm, the smooth brown bottle with the other.",
+    "Each arm should pick up one: the medium-size plastic bottle, then the rounded bottle with printed details.",
+    "Grasp the medium-size plastic bottle first, then take the bottle with dark brown color.",
+    "Catch the smooth red cylindrical bottle with one arm, the smooth brown bottle with another arm.",
+    "Hold both the red bottle with curved grooves and the medium bottle with smooth texture.",
+    "Use one arm for the plastic bottle and the other for the bottle with white cap.",
+    "With two arms, catch both the red bottle with screw cap and the bottle with dark brown color.",
+    "Grab the bottle with red cap with one arm, the bottle with white cap with the other.",
+    "Lift the bottle with red cap and the medium plastic bottle with separate arms.",
+    "Catch the plastic bottle with bright red color in one arm and the white-capped brown cylindrical bottle in the other arm.",
+    "Lift the handheld plastic bottle and also take hold of the handheld brown bottle with white lid.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the medium plastic bottle with the other.",
+    "Use both arms to pick up the plastic bottle and the smooth brown bottle.",
+    "Pick up both the yellow text bottle and the white-capped brown cylindrical bottle together.",
+    "Catch the red bottle with screw cap, then take hold of the rounded bottle with printed details.",
+    "Hold the plastic bottle with bright red color with one arm, hold the cylindrical bottle with narrow neck with the other.",
+    "Use both arms to lift the red bottle with narrow neck and the bottle with dark brown color.",
+    "Secure the handheld plastic bottle and the medium bottle with smooth texture in succession.",
+    "Use one arm for the bottle with red cap, the other for the plastic bottle with printed label.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the medium plastic bottle.",
+    "Grab the bottle with red cap using an arm and the bottle with brown body and white top with the other arm.",
+    "Hold the red bottle in one arm, the medium plastic bottle in the other.",
+    "Catch the red bottle with curved grooves, then grab the plastic bottle with printed label too.",
+    "Hold onto the red bottle with narrow neck and then get the plastic bottle for liquids.",
+    "Catch both the red bottle with curved grooves and the white-capped brown cylindrical bottle quickly.",
+    "Grab the medium-size plastic bottle using one arm and the smooth brown bottle using the other.",
+    "Catch the plastic bottle, then catch the smooth brown bottle.",
+    "Catch the yellow text bottle, grab the smooth brown bottle next.",
+    "Lift the medium-size plastic bottle, continue and pick up the smooth brown bottle.",
+    "With both arms, pick up the red bottle, then the smooth brown bottle.",
+    "Secure both the red bottle with screw cap and the bottle with white cap quickly.",
+    "Assign one arm to each of the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Grab the plastic bottle with bright red color and pick up the bottle with dark brown color.",
+    "Use each arm to lift the bottle with red cap and the handheld brown bottle with white lid.",
+    "Pick up both the medium-size plastic bottle and the medium bottle with smooth texture.",
+    "Pick up the red bottle with curved grooves, then pick up the cylindrical bottle with narrow neck.",
+    "Lift both the smooth red cylindrical bottle and the cylindrical bottle with narrow neck simultaneously.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the plastic bottle for liquids.",
+    "Hold the red bottle with curved grooves in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "Use one arm for the bottle with red cap, another for the medium bottle with smooth texture.",
+    "Hold onto the red bottle with narrow neck, then pick up the smooth brown bottle.",
+    "Pick up the red bottle with narrow neck and then pick up the white-capped brown cylindrical bottle.",
+    "Take hold of the red bottle with narrow neck and the plastic bottle for liquids.",
+    "Secure the smooth red cylindrical bottle, then secure the medium bottle with smooth texture.",
+    "Grab the smooth red cylindrical bottle, pick up the bottle with white cap.",
+    "Use both arms to pick up the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Assign one arm to catch the bottle with red cap, one for the plastic bottle with printed label.",
+    "Collect the handheld plastic bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Pick both the bottle with red cap and the bottle with dark brown color one after another.",
+    "Let each arm grab either the yellow text bottle or the medium bottle with smooth texture.",
+    "Grab the red bottle with white bottom text with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the rounded bottle with printed details.",
+    "Grasp the smooth red cylindrical bottle first, then take the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with narrow neck with one arm, the bottle with brown body and white top with another arm.",
+    "Hold both the plastic bottle with bright red color and the rounded bottle with printed details.",
+    "Use one arm for the red bottle and the other for the medium plastic bottle.",
+    "With two arms, catch both the handheld plastic bottle and the bottle with dark brown color.",
+    "Grab the smooth red cylindrical bottle with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Lift the smooth red cylindrical bottle and the handheld brown bottle with white lid with separate arms."
+  ],
+  "unseen": [
+    "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 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.",
+    "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 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 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.",
+    "Grab the bottle with white and yellow label 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 and take the lightweight plastic 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.",
+    "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 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 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 shiny red bottle and grab the brown cylindrical bottle with label at once.",
+    "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 lightweight plastic brown bottle 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 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.",
+    "Pick up 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 bottle with yellow Chinese characters and the brown bottle together.",
+    "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 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 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 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 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 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.",
+    "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 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 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 bottle with the other.",
+    "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 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.",
+    "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.",
+    "Grab the shiny red bottle 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.",
+    "Pick up both 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 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.",
+    "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 lightweight plastic brown bottle.",
+    "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 brown bottle.",
+    "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.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "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.",
+    "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.",
+    "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 brown cylindrical bottle with label.",
+    "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 yellow Chinese characters and take the brown bottle together.",
+    "Pick up both the bottle with yellow Chinese characters 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 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.",
+    "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.",
+    "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.",
+    "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 bottle together.",
+    "Pick up both the bottle with yellow Chinese characters 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 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 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 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 the shiny red bottle 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 white and yellow label 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.",
+    "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 cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters and the brown bottle together."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode30.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the medium-size plastic bottle with one arm, the medium bottle with smooth texture with another arm.",
+    "Lift both bottles, the handheld plastic bottle with one arm, the medium plastic bottle with the other.",
+    "Pick up the smooth red cylindrical bottle, then pick up the rounded bottle with printed details.",
+    "Use one arm for the red bottle with curved grooves and the other for the cylindrical bottle with narrow neck.",
+    "One arm grabs the red bottle with screw cap; the other arm grabs the rounded bottle with printed details.",
+    "Catch both the medium-size plastic bottle and the white-capped brown cylindrical bottle quickly.",
+    "Grab the red bottle using an arm and the rounded bottle with printed details with the other arm.",
+    "Lift both the medium-size plastic bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "Grab the plastic bottle, pick up the bottle with white cap.",
+    "Take hold of the yellow text bottle and the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with screw cap, then take hold of the cylindrical bottle with narrow neck.",
+    "Pick up both the red bottle and the rounded bottle with printed details.",
+    "Grab the red bottle with white bottom text using one arm and the bottle with brown body and white top using the other.",
+    "Pick up both the plastic bottle and the rounded bottle with printed details together.",
+    "Catch the red bottle, then catch the bottle with white cap.",
+    "Lift the medium-size plastic bottle and also take hold of the bottle with brown body and white top.",
+    "Catch the red bottle, then grab the medium bottle with smooth texture too.",
+    "Lift the handheld plastic bottle, continue and pick up the bottle with dark brown color.",
+    "Let each arm grab either the red bottle with white bottom text or the white-capped brown cylindrical bottle.",
+    "Collect the handheld plastic bottle, then pick up the bottle with dark brown color.",
+    "Hold the handheld plastic bottle in one arm, the bottle with brown body and white top in the other.",
+    "With two arms, catch both the plastic bottle and the bottle with brown body and white top.",
+    "Grab the red bottle with curved grooves with one arm, the plastic bottle for liquids with the other.",
+    "Use both arms to lift the red bottle with narrow neck and the rounded bottle with printed details.",
+    "Hold the bottle with red cap in one arm, catch the medium plastic bottle with the other arm.",
+    "Hold onto the red bottle and then get the white-capped brown cylindrical bottle.",
+    "Grab and hold the red bottle with curved grooves, then grab the medium bottle with smooth texture.",
+    "Secure the red bottle with white bottom text, then secure the medium plastic bottle.",
+    "Catch the red bottle with screw cap in one arm and the bottle with white cap in the other arm.",
+    "Catch the handheld plastic bottle, grab the medium bottle with smooth texture next.",
+    "With both arms, pick up the handheld plastic bottle, then the smooth brown bottle.",
+    "Grab the red bottle with narrow neck and pick up the bottle with brown body and white top.",
+    "Use both arms to pick up the medium-size plastic bottle and the cylindrical bottle with narrow neck.",
+    "Pick up the medium-size plastic bottle and then pick up the medium plastic bottle.",
+    "Hold both the yellow text bottle and the smooth brown bottle.",
+    "Pick both the red bottle with narrow neck and the handheld brown bottle with white lid one after another.",
+    "Grab the red bottle with one arm, the plastic bottle with printed label with the other.",
+    "Use one arm for the plastic bottle, the other for the smooth brown bottle.",
+    "Hold the handheld plastic bottle with one arm, hold the bottle with brown body and white top with the other.",
+    "Assign one arm to each of the smooth red cylindrical bottle and the bottle with brown body and white top.",
+    "Use each arm to lift the medium-size plastic bottle and the white-capped brown cylindrical bottle.",
+    "Use both arms to pick up the medium-size plastic bottle and the smooth brown bottle.",
+    "Secure the red bottle with curved grooves and the bottle with brown body and white top in succession.",
+    "Secure both the red bottle with curved grooves and the white-capped brown cylindrical bottle quickly.",
+    "Hold onto the red bottle, then pick up the bottle with brown body and white top.",
+    "Assign one arm to catch the red bottle with screw cap, one for the white-capped brown cylindrical bottle.",
+    "Use one arm for the red bottle with curved grooves, another for the bottle with white cap.",
+    "Grasp the red bottle with screw cap first, then take the bottle with brown body and white top.",
+    "Lift the red bottle with narrow neck and the plastic bottle for liquids with separate arms.",
+    "Each arm should pick up one: the plastic bottle, then the bottle with white cap.",
+    "Catch the red bottle with one arm, the medium bottle with smooth texture with another arm.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the bottle with dark brown color with the other.",
+    "Pick up the red bottle with screw cap, then pick up the bottle with white cap.",
+    "Use one arm for the red bottle with curved grooves and the other for the smooth brown bottle.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the medium bottle with smooth texture.",
+    "Catch both the plastic bottle and the white-capped brown cylindrical bottle quickly.",
+    "Grab the smooth red cylindrical bottle using an arm and the bottle with white cap with the other arm.",
+    "Lift both the red bottle with white bottom text and the white-capped brown cylindrical bottle simultaneously.",
+    "Grab the yellow text bottle, pick up the bottle with dark brown color.",
+    "Take hold of the bottle with red cap and the rounded bottle with printed details.",
+    "Catch the yellow text bottle, then take hold of the cylindrical bottle with narrow neck.",
+    "Pick up both the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Grab the yellow text bottle using one arm and the plastic bottle with printed label using the other.",
+    "Pick up both the yellow text bottle and the smooth brown bottle together.",
+    "Catch the red bottle with curved grooves, then catch the cylindrical bottle with narrow neck.",
+    "Lift the red bottle with screw cap and also take hold of the medium bottle with smooth texture.",
+    "Catch the handheld plastic bottle, then grab the plastic bottle with printed label too.",
+    "Lift the yellow text bottle, continue and pick up the medium plastic bottle.",
+    "Let each arm grab either the red bottle with narrow neck or the bottle with dark brown color.",
+    "Collect the red bottle with white bottom text, then pick up the plastic bottle with printed label.",
+    "Hold the plastic bottle in one arm, the smooth brown bottle in the other.",
+    "With two arms, catch both the bottle with red cap and the bottle with brown body and white top.",
+    "Grab the red bottle with screw cap with one arm, the bottle with white cap with the other.",
+    "Use both arms to lift the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Hold the red bottle with white bottom text in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Hold onto the yellow text bottle and then get the plastic bottle for liquids.",
+    "Grab and hold the red bottle, then grab the cylindrical bottle with narrow neck.",
+    "Secure the red bottle with narrow neck, then secure the bottle with white cap.",
+    "Catch the plastic bottle in one arm and the plastic bottle for liquids in the other arm.",
+    "Catch the red bottle with curved grooves, grab the white-capped brown cylindrical bottle next.",
+    "With both arms, pick up the plastic bottle, then the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with curved grooves and pick up the smooth brown bottle.",
+    "Use both arms to pick up the bottle with red cap and the rounded bottle with printed details.",
+    "Pick up the medium-size plastic bottle and then pick up the bottle with brown body and white top.",
+    "Hold both the plastic bottle and the handheld brown bottle with white lid.",
+    "Pick both the bottle with red cap and the plastic bottle for liquids one after another.",
+    "Grab the handheld plastic bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Use one arm for the red bottle with curved grooves, the other for the smooth brown bottle.",
+    "Hold the yellow text bottle with one arm, hold the medium bottle with smooth texture with the other.",
+    "Assign one arm to each of the plastic bottle and the medium bottle with smooth texture.",
+    "Use each arm to lift the handheld plastic bottle and the plastic bottle with printed label.",
+    "Use both arms to pick up the bottle with red cap and the medium plastic bottle.",
+    "Secure the red bottle and the rounded bottle with printed details in succession.",
+    "Secure both the red bottle with screw cap and the cylindrical bottle with narrow neck quickly.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the white-capped brown cylindrical bottle.",
+    "Assign one arm to catch the red bottle with screw cap, one for the smooth brown bottle.",
+    "Use one arm for the plastic bottle with bright red color, another for the handheld brown bottle with white lid.",
+    "Grasp the bottle with red cap first, then take the rounded bottle with printed details.",
+    "Lift the handheld plastic bottle and the plastic bottle for liquids with separate arms.",
+    "Each arm should pick up one: the plastic bottle, then the bottle with dark brown color."
+  ],
+  "unseen": [
+    "Use each arm to grab the shiny red bottle and 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.",
+    "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 bottle with the other.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 cylindrical bottle with label at once.",
+    "Grab the bottle with yellow Chinese characters and the brown cylindrical bottle with label at the same time.",
+    "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 bottle 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 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 lightweight plastic brown bottle together.",
+    "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 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 shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "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 white and yellow label and the brown bottle.",
+    "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.",
+    "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.",
+    "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 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 shiny red bottle and grab the brown bottle at once.",
+    "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 brown cylindrical bottle with label.",
+    "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.",
+    "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 lightweight plastic brown bottle together.",
+    "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.",
+    "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 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 grab the shiny red bottle and 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 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 bottle 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 brown bottle together.",
+    "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 cylindrical bottle with label using the other.",
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "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.",
+    "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 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 shiny red bottle and take the brown cylindrical bottle with label together.",
+    "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.",
+    "Lift the shiny red bottle using one arm and lift the lightweight plastic brown bottle using 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 cylindrical bottle with label at the same time.",
+    "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.",
+    "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.",
+    "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.",
+    "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 cylindrical bottle with label using 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 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.",
+    "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 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 take the brown bottle together.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 and the brown bottle 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 brown bottle using 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."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode31.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the bottle with red cap and the other for the cylindrical bottle with narrow neck.",
+    "Grab the smooth red cylindrical bottle, pick up the handheld brown bottle with white lid.",
+    "Pick both the red bottle and the bottle with brown body and white top one after another.",
+    "Pick up the red bottle with narrow neck and then pick up the plastic bottle for liquids.",
+    "Assign one arm to catch the plastic bottle, one for the bottle with white cap.",
+    "Grab and hold the medium-size plastic bottle, then grab the rounded bottle with printed details.",
+    "Grasp the bottle with red cap first, then take the bottle with dark brown color.",
+    "Secure the handheld plastic bottle and the handheld brown bottle with white lid in succession.",
+    "Take hold of the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Grab the bottle with red cap with one arm, the rounded bottle with printed details with the other.",
+    "Use both arms to pick up the red bottle with narrow neck and the bottle with white cap.",
+    "Use each arm to lift the red bottle with screw cap and the bottle with white cap.",
+    "Hold the bottle with red cap in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "Catch the yellow text bottle in one arm and the bottle with dark brown color in the other arm.",
+    "Use one arm for the plastic bottle with bright red color, another for the white-capped brown cylindrical bottle.",
+    "Hold the plastic bottle in one arm, the rounded bottle with printed details in the other.",
+    "Hold the medium-size plastic bottle with one arm, hold the bottle with white cap with the other.",
+    "With two arms, catch both the red bottle with white bottom text and the plastic bottle for liquids.",
+    "Assign one arm to each of the red bottle with curved grooves and the medium bottle with smooth texture.",
+    "Use both arms to pick up the plastic bottle with bright red color and the bottle with white cap.",
+    "Use one arm for the red bottle with curved grooves, the other for the cylindrical bottle with narrow neck.",
+    "Lift the handheld plastic bottle and also take hold of the bottle with brown body and white top.",
+    "Use both arms to lift the yellow text bottle and the handheld brown bottle with white lid.",
+    "Catch both the red bottle with curved grooves and the medium bottle with smooth texture quickly.",
+    "Lift the handheld plastic bottle, continue and pick up 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.",
+    "Hold both the plastic bottle and the rounded bottle with printed details.",
+    "Secure both the red bottle with white bottom text and the bottle with dark brown color quickly.",
+    "Pick up both the bottle with red cap and the plastic bottle for liquids.",
+    "Catch the medium-size plastic bottle, then take hold of the cylindrical bottle with narrow neck.",
+    "Hold onto the red bottle with screw cap, then pick up the cylindrical bottle with narrow neck.",
+    "Lift the plastic bottle with bright red color and the plastic bottle with printed label with separate arms.",
+    "Collect the yellow text bottle, then pick up the rounded bottle with printed details.",
+    "Catch the red bottle with curved grooves, grab the medium plastic bottle next.",
+    "Lift both the red bottle with white bottom text and the medium plastic bottle simultaneously.",
+    "Pick up the yellow text bottle, then pick up the handheld brown bottle with white lid.",
+    "Catch the medium-size plastic bottle, then grab the rounded bottle with printed details too.",
+    "Catch the bottle with red cap with one arm, the medium plastic bottle with another arm.",
+    "Hold onto the red bottle with narrow neck and then get the bottle with dark brown color.",
+    "Grab the plastic bottle using one arm and the smooth brown bottle using the other.",
+    "Grab the plastic bottle with bright red color and pick up the handheld brown bottle with white lid.",
+    "Secure the plastic bottle, then secure the medium plastic bottle.",
+    "Grab the plastic bottle with bright red color with one arm, the bottle with brown body and white top with the other.",
+    "Grab the red bottle with screw cap using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Let each arm grab either the red bottle with narrow neck or the bottle with dark brown color.",
+    "Pick up both the bottle with red cap and the smooth brown bottle together.",
+    "Each arm should pick up one: the red bottle, then the bottle with dark brown color.",
+    "With both arms, pick up the red bottle, then the cylindrical bottle with narrow neck.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the plastic bottle for liquids.",
+    "Catch the smooth red cylindrical bottle, then catch the bottle with white cap.",
+    "Use one arm for the medium-size plastic bottle and the other for the medium plastic bottle.",
+    "Grab the plastic bottle, pick up the bottle with dark brown color.",
+    "Pick both the red bottle and the bottle with white cap one after another.",
+    "Pick up the bottle with red cap and then pick up the rounded bottle with printed details.",
+    "Assign one arm to catch the red bottle, one for the plastic bottle for liquids.",
+    "Grab and hold the bottle with red cap, then grab the bottle with white cap.",
+    "Grasp the handheld plastic bottle first, then take the bottle with white cap.",
+    "Secure the red bottle and the medium plastic bottle in succession.",
+    "Take hold of the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Grab the handheld plastic bottle with one arm, the bottle with white cap with the other.",
+    "Use both arms to pick up the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Use each arm to lift the medium-size plastic bottle and the bottle with dark brown color.",
+    "Hold the medium-size plastic bottle in one arm, catch the bottle with dark brown color with the other arm.",
+    "Catch the medium-size plastic bottle in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "Use one arm for the medium-size plastic bottle, another for the white-capped brown cylindrical 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 screw cap with one arm, hold the bottle with brown body and white top with the other.",
+    "With two arms, catch both the red bottle with white bottom text and the plastic bottle for liquids.",
+    "Assign one arm to each of the red bottle with curved grooves and the bottle with dark brown color.",
+    "Use both arms to pick up the handheld plastic bottle and the rounded bottle with printed details.",
+    "Use one arm for the bottle with red cap, the other for the medium plastic bottle.",
+    "Lift the red bottle with curved grooves and also take hold of the rounded bottle with printed details.",
+    "Use both arms to lift the red bottle with curved grooves and the bottle with white cap.",
+    "Catch both the red bottle with white bottom text and the plastic bottle with printed label quickly.",
+    "Lift the red bottle with white bottom text, continue and pick up the bottle with brown body and white top.",
+    "Lift both bottles, the smooth red cylindrical bottle with one arm, the bottle with white cap with the other.",
+    "Hold both the medium-size plastic bottle and the bottle with dark brown color.",
+    "Secure both the red bottle with white bottom text and the handheld brown bottle with white lid quickly.",
+    "Pick up both the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Catch the bottle with red cap, then take hold of the rounded bottle with printed details.",
+    "Hold onto the bottle with red cap, then pick up the rounded bottle with printed details.",
+    "Lift the bottle with red cap and the smooth brown bottle with separate arms.",
+    "Collect the red bottle with white bottom text, then pick up the handheld brown bottle with white lid.",
+    "Catch the bottle with red cap, grab the handheld brown bottle with white lid next.",
+    "Lift both the red bottle with screw cap and the medium plastic bottle simultaneously.",
+    "Pick up the bottle with red cap, then pick up the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with narrow neck, then grab the bottle with white cap too.",
+    "Catch the red bottle with narrow neck with one arm, the plastic bottle with printed label with another arm.",
+    "Hold onto the plastic bottle and then get the bottle with brown body and white top.",
+    "Grab the red bottle with white bottom text using one arm and the handheld brown bottle with white lid using the other.",
+    "Grab the red bottle with narrow neck and pick up the rounded bottle with printed details.",
+    "Secure the medium-size plastic bottle, then secure the bottle with dark brown color.",
+    "Grab the yellow text bottle with one arm, the bottle with white cap with the other.",
+    "Grab the plastic bottle using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Let each arm grab either the plastic bottle or the bottle with brown body and white top.",
+    "Pick up both the red bottle with curved grooves and the plastic bottle for liquids together.",
+    "Each arm should pick up one: the red bottle with screw cap, then the white-capped brown cylindrical bottle.",
+    "With both arms, pick up the bottle with red cap, then the white-capped brown cylindrical bottle.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the handheld brown bottle with white lid.",
+    "Catch the plastic bottle with bright red color, then catch the rounded bottle with printed details."
+  ],
+  "unseen": [
+    "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 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 white and yellow label and the brown bottle together.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 the bottle with white and yellow label and take the brown bottle 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 bottle 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 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 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 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 and take the brown cylindrical bottle with label 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 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 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.",
+    "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 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 brown cylindrical bottle with label together.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 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 cylindrical bottle with label.",
+    "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.",
+    "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 lightweight plastic brown bottle 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 lightweight plastic brown bottle using 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 bottle 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 shiny red bottle, 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 lightweight plastic 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 cylindrical bottle with label together.",
+    "Pick up both 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 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 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 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 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 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 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 brown bottle at the same time.",
+    "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 cylindrical bottle with label.",
+    "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 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 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.",
+    "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 brown cylindrical bottle with label 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 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 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 the brown cylindrical bottle with label together.",
+    "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.",
+    "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.",
+    "Grab the bottle with yellow Chinese characters and grab the brown cylindrical bottle with label at once."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode32.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to pick up the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Use both arms to pick up the red bottle and the plastic bottle for liquids.",
+    "Use one arm for the red bottle with narrow neck, the other for the bottle with brown body and white top.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the plastic bottle with printed label.",
+    "Use each arm to lift the smooth red cylindrical bottle and the smooth brown bottle.",
+    "Use one arm for the bottle with red cap and the other for the handheld brown bottle with white lid.",
+    "Lift the handheld plastic bottle, continue and pick up the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with narrow neck, grab the smooth brown bottle next.",
+    "Pick up the red bottle with curved grooves, then pick up the medium bottle with smooth texture.",
+    "Use both arms to lift the handheld plastic bottle and the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the smooth red cylindrical bottle, then the plastic bottle for liquids.",
+    "Secure the plastic bottle and the rounded bottle with printed details in succession.",
+    "Hold the red bottle with white bottom text with one arm, hold the bottle with dark brown color with the other.",
+    "Grab and hold the bottle with red cap, then grab the white-capped brown cylindrical bottle.",
+    "Grab the red bottle with narrow neck, pick up the smooth brown bottle.",
+    "Catch both the red bottle with narrow neck and the bottle with brown body and white top quickly.",
+    "Catch the red bottle with narrow neck with one arm, the handheld brown bottle with white lid with another arm.",
+    "Take hold of the yellow text bottle and the plastic bottle with printed label.",
+    "Pick both the plastic bottle and the medium plastic bottle one after another.",
+    "Pick up both the bottle with red cap and the cylindrical bottle with narrow neck together.",
+    "Use one arm for the red bottle with narrow neck, another for the cylindrical bottle with narrow neck.",
+    "Catch the medium-size plastic bottle, then grab the smooth brown bottle too.",
+    "Catch the medium-size plastic bottle in one arm and the bottle with brown body and white top in the other arm.",
+    "Catch the smooth red cylindrical bottle, then take hold of the bottle with white cap.",
+    "Grab the red bottle with white bottom text using one arm and the bottle with white cap using the other.",
+    "Grasp the red bottle with screw cap first, then take the medium plastic bottle.",
+    "Pick up the red bottle with screw cap and then pick up the bottle with white cap.",
+    "Collect the red bottle with screw cap, then pick up the plastic bottle with printed label.",
+    "Pick up both the medium-size plastic bottle and the plastic bottle with printed label.",
+    "Let each arm grab either the red bottle with curved grooves or the rounded bottle with printed details.",
+    "Assign one arm to each of the yellow text bottle and the medium bottle with smooth texture.",
+    "Grab the red bottle with curved grooves with one arm, the handheld brown bottle with white lid with the other.",
+    "Hold both the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Hold the yellow text bottle in one arm, catch the plastic bottle for liquids with the other arm.",
+    "With both arms, pick up the red bottle with white bottom text, then the bottle with dark brown color.",
+    "Grab the yellow text bottle using an arm and the plastic bottle with printed label with the other arm.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the smooth brown bottle with the other.",
+    "Lift both the plastic bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "Hold the plastic bottle in one arm, the plastic bottle with printed label in the other.",
+    "Catch the plastic bottle with bright red color, then catch the rounded bottle with printed details.",
+    "With two arms, catch both the red bottle and the plastic bottle with printed label.",
+    "Hold onto the red bottle and then get the bottle with brown body and white top.",
+    "Grab the red bottle with curved grooves and pick up the white-capped brown cylindrical bottle.",
+    "Assign one arm to catch the plastic bottle, one for the white-capped brown cylindrical bottle.",
+    "Grab the smooth red cylindrical bottle with one arm, the bottle with brown body and white top with the other.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the rounded bottle with printed details.",
+    "Lift the red bottle and also take hold of the bottle with brown body and white top.",
+    "Secure the red bottle with screw cap, then secure the medium plastic bottle.",
+    "Lift the handheld plastic bottle and the medium plastic bottle with separate arms.",
+    "Secure both the plastic bottle with bright red color and the white-capped brown cylindrical bottle quickly.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the plastic bottle with printed label.",
+    "Use both arms to pick up the medium-size plastic bottle and the medium plastic bottle.",
+    "Use one arm for the medium-size plastic bottle, the other for the bottle with brown body and white top.",
+    "Hold onto the red bottle with curved grooves, then pick up the plastic bottle with printed label.",
+    "Use each arm to lift the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Use one arm for the handheld plastic bottle and the other for the bottle with dark brown color.",
+    "Lift the yellow text bottle, continue and pick up the bottle with dark brown color.",
+    "Catch the handheld plastic bottle, grab the cylindrical bottle with narrow neck next.",
+    "Pick up the red bottle with white bottom text, then pick up the bottle with dark brown color.",
+    "Use both arms to lift the red bottle with white bottom text and the bottle with brown body and white top.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the rounded bottle with printed details.",
+    "Secure the plastic bottle with bright red color and the medium bottle with smooth texture in succession.",
+    "Hold the medium-size plastic bottle with one arm, hold the plastic bottle for liquids with the other.",
+    "Grab and hold the plastic bottle, then grab the handheld brown bottle with white lid.",
+    "Grab the handheld plastic bottle, pick up the bottle with brown body and white top.",
+    "Catch both the plastic bottle and the bottle with brown body and white top quickly.",
+    "Catch the red bottle with narrow neck with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Take hold of the plastic bottle with bright red color and the medium plastic bottle.",
+    "Pick both the yellow text bottle and the handheld brown bottle with white lid one after another.",
+    "Pick up both the bottle with red cap and the bottle with dark brown color together.",
+    "Use one arm for the smooth red cylindrical bottle, another for the rounded bottle with printed details.",
+    "Catch the red bottle with screw cap, then grab the rounded bottle with printed details too.",
+    "Catch the red bottle with screw cap in one arm and the medium plastic bottle in the other arm.",
+    "Catch the medium-size plastic bottle, then take hold of the handheld brown bottle with white lid.",
+    "Grab the red bottle with screw cap using one arm and the cylindrical bottle with narrow neck using the other.",
+    "Grasp the red bottle with curved grooves first, then take the plastic bottle for liquids.",
+    "Pick up the handheld plastic bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Collect the handheld plastic bottle, then pick up the rounded bottle with printed details.",
+    "Pick up both the plastic bottle and the plastic bottle with printed label.",
+    "Let each arm grab either the plastic bottle or the bottle with brown body and white top.",
+    "Assign one arm to each of the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Grab the red bottle with narrow neck with one arm, the smooth brown bottle with the other.",
+    "Hold both the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Hold the red bottle in one arm, catch the medium plastic bottle with the other arm.",
+    "With both arms, pick up the red bottle with narrow neck, then the bottle with brown body and white top.",
+    "Grab the red bottle with white bottom text using an arm and the medium plastic bottle with the other arm.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the smooth brown bottle with the other.",
+    "Lift both the red bottle with screw cap and the bottle with white cap simultaneously.",
+    "Hold the red bottle with narrow neck in one arm, the white-capped brown cylindrical bottle in the other.",
+    "Catch the plastic bottle, then catch the cylindrical bottle with narrow neck.",
+    "With two arms, catch both the plastic bottle and the handheld brown bottle with white lid.",
+    "Hold onto the bottle with red cap and then get the handheld brown bottle with white lid.",
+    "Grab the red bottle with curved grooves and pick up the smooth brown bottle.",
+    "Assign one arm to catch the red bottle, one for 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.",
+    "One arm grabs the red bottle with white bottom text; the other arm grabs the cylindrical bottle with narrow neck.",
+    "Lift the plastic bottle and also take hold of the plastic bottle for liquids.",
+    "Secure the red bottle with white bottom text, then secure the rounded bottle with printed details.",
+    "Lift the handheld plastic bottle and the smooth brown bottle with separate arms.",
+    "Secure both the bottle with red cap and the bottle with brown body and white top quickly."
+  ],
+  "unseen": [
+    "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.",
+    "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 lightweight plastic brown bottle at once.",
+    "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 yellow Chinese characters and the brown cylindrical bottle with label.",
+    "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 the brown cylindrical bottle with label 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 shiny red bottle, then the brown bottle.",
+    "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.",
+    "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 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 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 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 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.",
+    "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 grab the brown bottle at once.",
+    "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 yellow Chinese characters and the lightweight plastic brown bottle.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "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.",
+    "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 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.",
+    "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 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 bottle.",
+    "Pick up the bottle with yellow Chinese characters and take the 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 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.",
+    "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 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 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 bottle with white and yellow label and the brown cylindrical bottle with label.",
+    "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 white and yellow label 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 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.",
+    "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 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 shiny red bottle and the brown cylindrical bottle with label.",
+    "Pick up the bottle with yellow Chinese characters 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 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 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 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 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 bottle with yellow Chinese characters and the brown bottle.",
+    "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 lightweight plastic 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 shiny red bottle, then the lightweight plastic brown bottle.",
+    "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 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 and grab the brown bottle at once.",
+    "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 yellow Chinese characters and the 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 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 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.",
+    "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 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 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 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 bottle with white and yellow label, then the brown cylindrical bottle with label.",
+    "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 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.",
+    "Grab the shiny red bottle and grab the 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 bottle.",
+    "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 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 brown cylindrical bottle with label."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode33.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red bottle with narrow neck and the rounded bottle with printed details with separate arms.",
+    "Hold both the red bottle and the smooth brown bottle.",
+    "Catch the red bottle, then take hold of the plastic bottle with printed label.",
+    "Use one arm for the bottle with red cap, the other for the bottle with white cap.",
+    "With two arms, catch both the red bottle with curved grooves and the handheld brown bottle with white lid.",
+    "Catch both the red bottle with curved grooves and the white-capped brown cylindrical bottle quickly.",
+    "Catch the red bottle with narrow neck in one arm and the bottle with dark brown color in the other arm.",
+    "Hold the red bottle with white bottom text in one arm, catch the bottle with white cap with the other arm.",
+    "Use both arms to pick up the plastic bottle and the handheld brown bottle with white lid.",
+    "With both arms, pick up the red bottle with screw cap, then the smooth brown bottle.",
+    "Use each arm to lift the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Lift both bottles, the red bottle with screw cap with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Secure the red bottle with curved grooves and the plastic bottle with printed label in succession.",
+    "Take hold of the plastic bottle and the bottle with white cap.",
+    "Hold the plastic bottle in one arm, the handheld brown bottle with white lid in the other.",
+    "Pick both the plastic bottle with bright red color and the medium plastic bottle one after another.",
+    "Use one arm for the red bottle and the other for the plastic bottle for liquids.",
+    "Grab the bottle with red cap with one arm, the bottle with brown body and white top with the other.",
+    "Catch the red bottle with curved grooves with one arm, the plastic bottle with printed label with another arm.",
+    "Hold onto the red bottle with narrow neck and then get the handheld brown bottle with white lid.",
+    "Catch the red bottle, then grab the bottle with white cap too.",
+    "Pick up the red bottle with curved grooves and then pick up the white-capped brown cylindrical bottle.",
+    "Assign one arm to each of the red bottle and the rounded bottle with printed details.",
+    "Pick up both the red bottle with screw cap and the medium plastic bottle.",
+    "Secure the plastic bottle, then secure the medium plastic bottle.",
+    "Let each arm grab either the red bottle with screw cap or the bottle with brown body and white top.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the handheld brown bottle with white lid.",
+    "Use one arm for the red bottle with curved grooves, another for the bottle with white cap.",
+    "Grab the plastic bottle with bright red color, pick up the smooth brown bottle.",
+    "Catch the plastic bottle with bright red color, then catch the bottle with dark brown color.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the white-capped brown cylindrical bottle.",
+    "Pick up the yellow text bottle, then pick up the cylindrical bottle with narrow neck.",
+    "Use both arms to lift the bottle with red cap and the medium bottle with smooth texture.",
+    "Hold onto the red bottle, then pick up the smooth brown bottle.",
+    "Collect the handheld plastic bottle, then pick up the bottle with brown body and white top.",
+    "Catch the handheld plastic bottle, grab the bottle with brown body and white top next.",
+    "Grab and hold the plastic bottle with bright red color, then grab the handheld brown bottle with white lid.",
+    "Assign one arm to catch the red bottle with narrow neck, one for the handheld brown bottle with white lid.",
+    "One arm grabs the handheld plastic bottle; the other arm grabs the smooth brown bottle.",
+    "Hold the plastic bottle with one arm, hold the plastic bottle for liquids with the other.",
+    "Lift the smooth red cylindrical bottle and also take hold of the bottle with white cap.",
+    "Grasp the red bottle with screw cap first, then take the medium bottle with smooth texture.",
+    "Grab the bottle with red cap using an arm and the white-capped brown cylindrical bottle with the other arm.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the medium bottle with smooth texture.",
+    "Secure both the yellow text bottle and the bottle with brown body and white top quickly.",
+    "Grab the red bottle with narrow neck with one arm, the bottle with dark brown color with the other.",
+    "Grab the red bottle with narrow neck using one arm and the smooth brown bottle using the other.",
+    "Lift both the red bottle and the plastic bottle with printed label simultaneously.",
+    "Pick up both the red bottle with curved grooves and the handheld brown bottle with white lid together.",
+    "Grab the handheld plastic bottle and pick up the plastic bottle for liquids.",
+    "Lift the plastic bottle and the handheld brown bottle with white lid with separate arms.",
+    "Hold both the handheld plastic bottle and the medium plastic bottle.",
+    "Catch the red bottle with curved grooves, then take hold of the handheld brown bottle with white lid.",
+    "Use one arm for the plastic bottle, the other for the cylindrical bottle with narrow neck.",
+    "With two arms, catch both the red bottle with curved grooves and the rounded bottle with printed details.",
+    "Catch both the plastic bottle with bright red color and the rounded bottle with printed details quickly.",
+    "Catch the medium-size plastic bottle in one arm and the rounded bottle with printed details in the other arm.",
+    "Hold the medium-size plastic bottle in one arm, catch the medium plastic bottle with the other arm.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the bottle with dark brown color.",
+    "With both arms, pick up the smooth red cylindrical bottle, then the white-capped brown cylindrical bottle.",
+    "Use each arm to lift the red bottle with curved grooves and the smooth brown bottle.",
+    "Lift both bottles, the medium-size plastic bottle with one arm, the rounded bottle with printed details with the other.",
+    "Secure the plastic bottle and the handheld brown bottle with white lid in succession.",
+    "Take hold of the smooth red cylindrical bottle and the plastic bottle for liquids.",
+    "Hold the red bottle with curved grooves in one arm, the plastic bottle for liquids in the other.",
+    "Pick both the red bottle with curved grooves and the bottle with dark brown color one after another.",
+    "Use one arm for the plastic bottle and the other for the medium bottle with smooth texture.",
+    "Grab the handheld plastic bottle with one arm, the plastic bottle with printed label with the other.",
+    "Catch the smooth red cylindrical bottle with one arm, the plastic bottle with printed label with another arm.",
+    "Hold onto the medium-size plastic bottle and then get the smooth brown bottle.",
+    "Catch the plastic bottle, then grab the handheld brown bottle with white lid too.",
+    "Pick up the smooth red cylindrical bottle and then pick up the medium plastic bottle.",
+    "Assign one arm to each of the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Pick up both the red bottle with white bottom text and the rounded bottle with printed details.",
+    "Secure the smooth red cylindrical bottle, then secure the bottle with brown body and white top.",
+    "Let each arm grab either the medium-size plastic bottle or the bottle with white cap.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the plastic bottle with printed label.",
+    "Use one arm for the red bottle with screw cap, another for the white-capped brown cylindrical bottle.",
+    "Grab the yellow text bottle, pick up the bottle with dark brown color.",
+    "Catch the bottle with red cap, then catch the smooth brown bottle.",
+    "Lift the red bottle with curved grooves, continue and pick up the rounded bottle with printed details.",
+    "Pick up the bottle with red cap, then pick up the bottle with dark brown color.",
+    "Use both arms to lift the red bottle with white bottom text and the white-capped brown cylindrical bottle.",
+    "Hold onto the yellow text bottle, then pick up the smooth brown bottle.",
+    "Collect the red bottle with screw cap, then pick up the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with narrow neck, grab the white-capped brown cylindrical bottle next.",
+    "Grab and hold the red bottle with curved grooves, then grab the bottle with white cap.",
+    "Assign one arm to catch the red bottle with screw cap, one for the bottle with dark brown color.",
+    "One arm grabs the red bottle; the other arm grabs the cylindrical bottle with narrow neck.",
+    "Hold the red bottle with curved grooves with one arm, hold the smooth brown bottle with the other.",
+    "Lift the handheld plastic bottle and also take hold of the plastic bottle for liquids.",
+    "Grasp the plastic bottle with bright red color first, then take the handheld brown bottle with white lid.",
+    "Grab the plastic bottle with bright red color using an arm and the bottle with dark brown color with the other arm.",
+    "Each arm should pick up one: the red bottle, then the bottle with brown body and white top.",
+    "Secure both the smooth red cylindrical bottle and the medium plastic bottle quickly.",
+    "Grab the medium-size plastic bottle with one arm, the plastic bottle with printed label with the other.",
+    "Grab the red bottle with screw cap using one arm and the rounded bottle with printed details using the other.",
+    "Lift both the yellow text bottle and the rounded bottle with printed details simultaneously.",
+    "Pick up both the red bottle with narrow neck and the bottle with white cap together.",
+    "Grab the red bottle with narrow neck and pick up the medium bottle with smooth texture."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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 yellow Chinese characters and grab the lightweight plastic brown bottle at once.",
+    "Pick up the shiny red bottle and take 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 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 bottle.",
+    "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.",
+    "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 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.",
+    "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 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 white and yellow label, 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 yellow Chinese characters 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 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 brown cylindrical bottle with label together.",
+    "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.",
+    "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 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 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 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 bottle with yellow Chinese characters 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 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 bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, 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.",
+    "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 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 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.",
+    "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 cylindrical bottle with label 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 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 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.",
+    "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.",
+    "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 cylindrical bottle with label 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 shiny red bottle, then 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 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 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.",
+    "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 brown cylindrical bottle with label at the same time.",
+    "Pick up both 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.",
+    "Use each arm to lift a bottle: the bottle with yellow Chinese characters, 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.",
+    "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 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 lightweight plastic brown bottle at once.",
+    "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.",
+    "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 bottle.",
+    "Use each arm to lift a bottle: the shiny red bottle, then 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 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 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.",
+    "Pick up the bottle with white and yellow label and take the brown bottle together.",
+    "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.",
+    "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.",
+    "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 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 with one arm, grab the brown bottle with the other."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode34.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the red bottle with curved grooves and the other for the rounded bottle with printed details.",
+    "Use both arms to pick up the red bottle and the smooth brown bottle.",
+    "Lift the plastic bottle with bright red color and also take hold of the bottle with dark brown color.",
+    "Grab the red bottle with screw cap with one arm, the plastic bottle for liquids with the other.",
+    "Pick up the red bottle with screw cap and then pick up the bottle with brown body and white top.",
+    "Hold the smooth red cylindrical bottle in one arm, the plastic bottle with printed label in the other.",
+    "Use each arm to lift the yellow text bottle and the cylindrical bottle with narrow neck.",
+    "Hold onto the plastic bottle and then get the bottle with white cap.",
+    "Catch the smooth red cylindrical bottle, grab the white-capped brown cylindrical bottle next.",
+    "Hold the handheld plastic bottle in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Hold the yellow text bottle with one arm, hold the plastic bottle with printed label with the other.",
+    "One arm grabs the yellow text bottle; the other arm grabs the handheld brown bottle with white lid.",
+    "Grab the medium-size plastic bottle using one arm and the rounded bottle with printed details using the other.",
+    "Grab the yellow text bottle using an arm and the bottle with white cap with the other arm.",
+    "Secure the plastic bottle with bright red color and the plastic bottle for liquids in succession.",
+    "Catch the medium-size 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 white-capped brown cylindrical bottle.",
+    "Grab the plastic bottle with bright red color, pick up the smooth brown bottle.",
+    "Catch both the plastic bottle and the bottle with brown body and white top quickly.",
+    "Catch the red bottle with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Catch the plastic bottle, then take hold of the bottle with white cap.",
+    "Pick up both the handheld plastic bottle and the rounded bottle with printed details together.",
+    "Hold onto the red bottle with curved grooves, then pick up the handheld brown bottle with white lid.",
+    "Use one arm for the red bottle with curved grooves, the other for the medium bottle with smooth texture.",
+    "Grab and hold the red bottle, then grab the white-capped brown cylindrical bottle.",
+    "Secure both the yellow text bottle and the bottle with dark brown color quickly.",
+    "Hold both the red bottle with curved grooves and the rounded bottle with printed details.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the bottle with dark brown color.",
+    "Lift both bottles, the red bottle with narrow neck with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Use one arm for the plastic bottle, another for the bottle with dark brown color.",
+    "With two arms, catch both the smooth red cylindrical bottle and the rounded bottle with printed details.",
+    "Grab the handheld plastic bottle and pick up the medium plastic bottle.",
+    "Pick up the plastic bottle, then pick up the smooth brown bottle.",
+    "Catch the red bottle in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Each arm should pick up one: the red bottle with screw cap, then the medium plastic bottle.",
+    "Grasp the plastic bottle first, then take the medium plastic bottle.",
+    "Lift the red bottle with curved grooves and the handheld brown bottle with white lid with separate arms.",
+    "With both arms, pick up the red bottle with screw cap, then the bottle with brown body and white top.",
+    "Grab the plastic bottle with bright red color with one arm, the medium bottle with smooth texture with the other.",
+    "Secure the plastic bottle, then secure the white-capped brown cylindrical bottle.",
+    "Pick both the yellow text bottle and the smooth brown bottle one after another.",
+    "Pick up both the red bottle with narrow neck and the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the smooth red cylindrical bottle or the medium plastic bottle.",
+    "Use both arms to lift the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Collect the medium-size plastic bottle, then pick up the handheld brown bottle with white lid.",
+    "Assign one arm to each of the plastic bottle and the bottle with brown body and white top.",
+    "Lift the red bottle with screw cap, continue and pick up the plastic bottle for liquids.",
+    "Take hold of the red bottle and the rounded bottle with printed details.",
+    "Catch the yellow text bottle, then catch the cylindrical bottle with narrow neck.",
+    "Lift both the medium-size plastic bottle and the smooth brown bottle simultaneously.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the smooth brown bottle.",
+    "Use both arms to pick up the plastic bottle and the medium bottle with smooth texture.",
+    "Lift the red bottle with narrow neck and also take hold of the bottle with white cap.",
+    "Grab the yellow text bottle with one arm, the smooth brown bottle with the other.",
+    "Pick up the red bottle with white bottom text and then pick up the plastic bottle for liquids.",
+    "Hold the plastic bottle with bright red color in one arm, the medium plastic bottle in the other.",
+    "Use each arm to lift the bottle with red cap and the cylindrical bottle with narrow neck.",
+    "Hold onto the plastic bottle with bright red color and then get the medium bottle with smooth texture.",
+    "Catch the red bottle with white bottom text, grab the plastic bottle with printed label next.",
+    "Hold the red bottle with screw cap in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the medium bottle with smooth texture with the other.",
+    "One arm grabs the medium-size plastic bottle; the other arm grabs the rounded bottle with printed details.",
+    "Grab the plastic bottle with bright red color using one arm and the cylindrical bottle with narrow neck using the other.",
+    "Grab the plastic bottle with bright red color using an arm and the bottle with white cap with the other arm.",
+    "Secure the medium-size plastic bottle and the plastic bottle for liquids in succession.",
+    "Catch the medium-size plastic bottle, then grab the plastic bottle with printed label too.",
+    "Use both arms to pick up the red bottle and the medium bottle with smooth texture.",
+    "Grab the red bottle with narrow neck, pick up the smooth brown bottle.",
+    "Catch both the red bottle with narrow neck and the medium bottle with smooth texture quickly.",
+    "Catch the red bottle with white bottom text with one arm, the bottle with white cap with another arm.",
+    "Catch the red bottle, then take hold of the white-capped brown cylindrical bottle.",
+    "Pick up both the red bottle with curved grooves and the plastic bottle with printed label together.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the smooth brown bottle.",
+    "Use one arm for the red bottle with screw cap, the other for the medium plastic bottle.",
+    "Grab and hold the red bottle with screw cap, then grab the rounded bottle with printed details.",
+    "Secure both the red bottle with screw cap and the rounded bottle with printed details quickly.",
+    "Hold both the bottle with red cap and the handheld brown bottle with white lid.",
+    "Assign one arm to catch the handheld plastic bottle, one for the white-capped brown cylindrical bottle.",
+    "Lift both bottles, the red bottle with screw cap with one arm, the handheld brown bottle with white lid with the other.",
+    "Use one arm for the handheld plastic bottle, another for the bottle with dark brown color.",
+    "With two arms, catch both the red bottle and the smooth brown bottle.",
+    "Grab the plastic bottle with bright red color and pick up the bottle with brown body and white top.",
+    "Pick up the medium-size plastic bottle, then pick up the rounded bottle with printed details.",
+    "Catch the smooth red cylindrical bottle in one arm and the rounded bottle with printed details in the other arm.",
+    "Each arm should pick up one: the bottle with red cap, then the bottle with brown body and white top.",
+    "Grasp the red bottle with screw cap first, then take the white-capped brown cylindrical bottle.",
+    "Lift the red bottle with screw cap and the bottle with brown body and white top with separate arms.",
+    "With both arms, pick up the red bottle with white bottom text, then the handheld brown bottle with white lid.",
+    "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, then secure the medium plastic bottle.",
+    "Pick both the handheld plastic bottle and the cylindrical bottle with narrow neck one after another.",
+    "Pick up both the red bottle with narrow neck and the medium bottle with smooth texture.",
+    "Let each arm grab either the red bottle with narrow neck or the bottle with white cap.",
+    "Use both arms to lift the red bottle with white bottom text and the handheld brown bottle with white lid.",
+    "Collect the smooth red cylindrical bottle, then pick up the bottle with brown body and white top.",
+    "Assign one arm to each of the bottle with red cap and the rounded bottle with printed details.",
+    "Lift the red bottle with narrow neck, continue and pick up the plastic bottle with printed label.",
+    "Take hold of the red bottle and the bottle with dark brown color.",
+    "Catch the red bottle, then catch the white-capped brown cylindrical bottle.",
+    "Lift both the medium-size plastic bottle and the bottle with white cap simultaneously."
+  ],
+  "unseen": [
+    "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 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.",
+    "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 brown bottle at the same time.",
+    "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 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 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 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 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 shiny red bottle and the brown bottle at the same time.",
+    "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 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 and the 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 bottle with yellow Chinese characters 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.",
+    "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 cylindrical bottle with label at the same time.",
+    "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 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 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 grab the brown bottle at once.",
+    "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 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 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 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.",
+    "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.",
+    "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 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 bottle together.",
+    "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.",
+    "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 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 lightweight plastic brown bottle at once.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 lightweight plastic brown bottle at once.",
+    "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.",
+    "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 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 lightweight plastic brown bottle 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 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 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.",
+    "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 the shiny red bottle and take the brown bottle together.",
+    "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 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 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.",
+    "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.",
+    "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 bottle together.",
+    "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 lightweight plastic brown bottle using 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 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 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.",
+    "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 lightweight plastic brown bottle at the same time.",
+    "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 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."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode35.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the red bottle using one arm and the white-capped brown cylindrical bottle using the other.",
+    "Catch the smooth red cylindrical bottle, then take hold of the bottle with white cap.",
+    "Secure the red bottle, then secure the medium bottle with smooth texture.",
+    "Use one arm for the handheld plastic bottle, the other for the rounded bottle with printed details.",
+    "Grab the red bottle with narrow neck with one arm, the white-capped brown cylindrical bottle with the other.",
+    "Lift the smooth red cylindrical bottle and the medium bottle with smooth texture with separate arms.",
+    "With two arms, catch both the red bottle with narrow neck and the bottle with white cap.",
+    "Hold both the red bottle with screw cap and the medium bottle with smooth texture.",
+    "Grab the red bottle with screw cap, pick up the white-capped brown cylindrical bottle.",
+    "Use both arms to lift the bottle with red cap and the medium plastic bottle.",
+    "Collect the yellow text bottle, then pick up the bottle with dark brown color.",
+    "Catch the plastic bottle with bright red color in one arm and the medium bottle with smooth texture in the other arm.",
+    "Use one arm for the red bottle, another for the white-capped brown cylindrical bottle.",
+    "Grasp the red bottle with curved grooves first, then take the bottle with brown body and white top.",
+    "Lift the plastic bottle, continue and pick up the rounded bottle with printed details.",
+    "Use each arm to lift the red bottle with curved grooves and the medium plastic bottle.",
+    "Catch the medium-size plastic bottle, then grab the bottle with brown body and white top too.",
+    "With both arms, pick up the red bottle, then the bottle with dark brown color.",
+    "Grab and hold the yellow text bottle, then grab the plastic bottle with printed label.",
+    "Assign one arm to catch the handheld plastic bottle, one for the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with curved grooves, grab the medium plastic bottle next.",
+    "Take hold of the handheld plastic bottle and the bottle with brown body and white top.",
+    "Pick up the red bottle with narrow neck, then pick up the handheld brown bottle with white lid.",
+    "Hold the red bottle with narrow neck with one arm, hold the plastic bottle for liquids with the other.",
+    "Lift the yellow text bottle and also take hold of the plastic bottle for liquids.",
+    "Let each arm grab either the plastic bottle with bright red color or the medium plastic bottle.",
+    "Catch both the red bottle with narrow neck and the medium bottle with smooth texture quickly.",
+    "Use one arm for the red bottle with curved grooves and the other for the plastic bottle with printed label.",
+    "Pick both the handheld plastic bottle and the white-capped brown cylindrical bottle one after another.",
+    "Pick up the red bottle with white bottom text and then pick up the bottle with brown body and white top.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the bottle with brown body and white top.",
+    "Pick up both the yellow text bottle and the medium bottle with smooth texture together.",
+    "Lift both the red bottle with white bottom text and the smooth brown bottle simultaneously.",
+    "Grab the red bottle with curved grooves using an arm and the medium plastic bottle with the other arm.",
+    "Secure the handheld plastic bottle and the bottle with brown body and white top in succession.",
+    "Hold the plastic bottle with bright red color in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Hold onto the plastic bottle, then pick up the medium plastic bottle.",
+    "Hold the plastic bottle in one arm, the plastic bottle with printed label in the other.",
+    "Use both arms to pick up the red bottle and the white-capped brown cylindrical bottle.",
+    "Use both arms to pick up the plastic bottle with bright red color and the bottle with white cap.",
+    "Hold onto the smooth red cylindrical bottle and then get the bottle with dark brown color.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the medium bottle with smooth texture.",
+    "Lift both bottles, the plastic bottle with one arm, the bottle with brown body and white top with the other.",
+    "Catch the bottle with red cap, then catch the bottle with white cap.",
+    "Grab the bottle with red cap with one arm, the bottle with dark brown color with the other.",
+    "Grab the medium-size plastic bottle and pick up the smooth brown bottle.",
+    "Pick up both the handheld plastic bottle and the bottle with brown body and white top.",
+    "Secure both the yellow text bottle and the medium plastic bottle quickly.",
+    "Catch the plastic bottle with one arm, the handheld brown bottle with white lid with another arm.",
+    "Assign one arm to each of the handheld plastic bottle and the bottle with dark brown color.",
+    "Grab the red bottle with narrow neck using one arm and the plastic bottle with printed label using the other.",
+    "Catch the red bottle with white bottom text, then take hold of the smooth brown bottle.",
+    "Secure the yellow text bottle, then secure the smooth brown bottle.",
+    "Use one arm for the handheld plastic bottle, the other for the bottle with white cap.",
+    "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 white bottom text and the medium bottle with smooth texture with separate arms.",
+    "With two arms, catch both the bottle with red cap and the white-capped brown cylindrical bottle.",
+    "Hold both the red bottle with screw cap and the plastic bottle with printed label.",
+    "Grab the medium-size plastic bottle, pick up the plastic bottle with printed label.",
+    "Use both arms to lift the plastic bottle and the cylindrical bottle with narrow neck.",
+    "Collect the red bottle with white bottom text, then pick up the bottle with white cap.",
+    "Catch the plastic bottle in one arm and the plastic bottle for liquids in the other arm.",
+    "Use one arm for the red bottle with screw cap, another for the medium plastic bottle.",
+    "Grasp the bottle with red cap first, then take the cylindrical bottle with narrow neck.",
+    "Lift the red bottle, continue and pick up the rounded bottle with printed details.",
+    "Use each arm to lift the smooth red cylindrical bottle and the medium bottle with smooth texture.",
+    "Catch the red bottle, then grab the handheld brown bottle with white lid too.",
+    "With both arms, pick up the red bottle with white bottom text, then the bottle with dark brown color.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the smooth brown bottle.",
+    "Assign one arm to catch the plastic bottle, one for the plastic bottle with printed label.",
+    "Catch the plastic bottle with bright red color, grab the plastic bottle with printed label next.",
+    "Take hold of the red bottle and the rounded bottle with printed details.",
+    "Pick up the red bottle with narrow neck, then pick up 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 plastic bottle and also take hold of the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the plastic bottle or the medium plastic bottle.",
+    "Catch both the yellow text bottle and the smooth brown bottle quickly.",
+    "Use one arm for the plastic bottle and the other for the bottle with white cap.",
+    "Pick both the medium-size plastic bottle and the bottle with brown body and white top one after another.",
+    "Pick up the smooth red cylindrical bottle and then pick up the medium plastic bottle.",
+    "Each arm should pick up one: the red bottle, then the bottle with brown body and white top.",
+    "Pick up both the red bottle with white bottom text and the plastic bottle for liquids together.",
+    "Lift both the red bottle with screw cap and the bottle with dark brown color simultaneously.",
+    "Grab the medium-size plastic bottle using an arm and the handheld brown bottle with white lid with the other arm.",
+    "Secure the plastic bottle with bright red color and the plastic bottle for liquids in succession.",
+    "Hold the yellow text bottle in one arm, catch the bottle with white cap with the other arm.",
+    "Hold onto the red bottle, then pick up the plastic bottle with printed label.",
+    "Hold the plastic bottle in one arm, the cylindrical bottle with narrow neck in the other.",
+    "Use both arms to pick up the plastic bottle with bright red color and the smooth brown bottle.",
+    "Use both arms to pick up the bottle with red cap and the handheld brown bottle with white lid.",
+    "Hold onto the bottle with red cap and then get the white-capped brown cylindrical bottle.",
+    "One arm grabs the plastic bottle with bright red color; the other arm grabs 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.",
+    "Catch the red bottle with white bottom text, then catch the cylindrical bottle with narrow neck.",
+    "Grab the smooth red cylindrical bottle with one arm, the bottle with dark brown color with the other.",
+    "Grab the red bottle with narrow neck and pick up the bottle with dark brown color.",
+    "Pick up both the red bottle with narrow neck and the smooth brown bottle.",
+    "Secure both the red bottle and the medium plastic bottle quickly.",
+    "Catch the red bottle with white bottom text with one arm, the medium plastic bottle with another arm.",
+    "Assign one arm to each of the red bottle with white bottom text and the bottle with dark brown color."
+  ],
+  "unseen": [
+    "Pick up both 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 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 bottle together.",
+    "Pick up 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.",
+    "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 brown cylindrical bottle with label.",
+    "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 both 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.",
+    "Pick up 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.",
+    "Pick up the bottle with white and yellow label 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 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 lightweight plastic brown bottle.",
+    "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.",
+    "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 cylindrical bottle with label at the same time.",
+    "Pick up 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.",
+    "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.",
+    "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 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 both 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.",
+    "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 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 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.",
+    "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.",
+    "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 bottle with yellow Chinese characters and the 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 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 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 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 lightweight plastic brown bottle at once.",
+    "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 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 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 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 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.",
+    "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.",
+    "Pick up both the shiny red bottle 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.",
+    "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 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 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.",
+    "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 cylindrical bottle with label with the other.",
+    "Pick up both the bottle with yellow Chinese characters and the brown bottle 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.",
+    "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 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 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 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 both the bottle with white and yellow label and the brown bottle 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 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 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 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.",
+    "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 brown bottle with the other.",
+    "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 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.",
+    "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.",
+    "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 brown bottle.",
+    "Grab the shiny red bottle and grab the brown bottle at once.",
+    "Grab the bottle with white and yellow label with one arm, grab the brown bottle with the other."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode36.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the handheld plastic bottle first, then take the bottle with brown body and white top.",
+    "Grab the red bottle with narrow neck with one arm, the smooth brown bottle with the other.",
+    "Catch the red bottle with curved grooves, then catch the bottle with dark brown color.",
+    "Lift the red bottle, continue and pick up the white-capped brown cylindrical bottle.",
+    "Grab the plastic bottle and pick up the smooth brown bottle.",
+    "Take hold of the red bottle with white bottom text and the bottle with dark brown color.",
+    "Hold the yellow text bottle with one arm, hold the bottle with dark brown color with the other.",
+    "Secure both the red bottle with curved grooves and the plastic bottle for liquids quickly.",
+    "Hold onto the plastic bottle and then get the cylindrical bottle with narrow neck.",
+    "Catch the red bottle with one arm, the plastic bottle for liquids with another arm.",
+    "Catch the handheld plastic bottle, grab the plastic bottle with printed label next.",
+    "Catch the medium-size plastic bottle, then grab the bottle with white cap too.",
+    "Catch the red bottle with narrow neck in one arm and the rounded bottle with printed details in the other arm.",
+    "Grab the medium-size plastic bottle with one arm, the rounded bottle with printed details with the other.",
+    "Let each arm grab either the plastic bottle or the bottle with dark brown color.",
+    "With two arms, catch both the red bottle with curved grooves and the medium bottle with smooth texture.",
+    "Use both arms to pick up the plastic bottle with bright red color and the smooth brown bottle.",
+    "Pick up both the red bottle and the cylindrical bottle with narrow neck.",
+    "Grab the bottle with red cap using one arm and the cylindrical bottle with narrow neck using the other.",
+    "Each arm should pick up one: the red bottle with screw cap, then the smooth brown bottle.",
+    "Use both arms to lift the plastic bottle and the plastic bottle for liquids.",
+    "Collect the plastic bottle with bright red color, then pick up the handheld brown bottle with white lid.",
+    "Hold the red bottle in one arm, the plastic bottle with printed label in the other.",
+    "Assign one arm to catch the handheld plastic bottle, one for the plastic bottle with printed label.",
+    "Pick up the plastic bottle with bright red color, then pick up the plastic bottle with printed label.",
+    "Pick up both the red bottle with curved grooves and the handheld brown bottle with white lid together.",
+    "Catch the medium-size plastic bottle, then take hold of the bottle with dark brown color.",
+    "Hold onto the bottle with red cap, then pick up the bottle with brown body and white top.",
+    "Use one arm for the medium-size plastic bottle, another for the medium plastic bottle.",
+    "Lift both the plastic bottle with bright red color and the handheld brown bottle with white lid simultaneously.",
+    "Pick both the red bottle with white bottom text and the white-capped brown cylindrical bottle one after another.",
+    "Grab the plastic bottle using an arm and the plastic bottle for liquids with the other arm.",
+    "One arm grabs the red bottle with curved grooves; the other arm grabs the bottle with brown body and white top.",
+    "Grab the red bottle with screw cap, pick up the smooth brown bottle.",
+    "With both arms, pick up the plastic bottle, then the plastic bottle for liquids.",
+    "Hold both the red bottle and the plastic bottle for liquids.",
+    "Grab and hold the plastic bottle, then grab the plastic bottle for liquids.",
+    "Secure the red bottle and the plastic bottle with printed label in succession.",
+    "Lift the bottle with red cap and the bottle with brown body and white top with separate arms.",
+    "Catch both the red bottle with white bottom text and the medium plastic bottle quickly.",
+    "Pick up the bottle with red cap and then pick up the bottle with brown body and white top.",
+    "Hold the handheld plastic bottle in one arm, catch the smooth brown bottle with the other arm.",
+    "Secure the smooth red cylindrical bottle, then secure the white-capped brown cylindrical bottle.",
+    "Lift the red bottle with white bottom text and also take hold of the bottle with white cap.",
+    "Use both arms to pick up the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "Assign one arm to each of the red bottle with screw cap and the handheld brown bottle with white lid.",
+    "Use each arm to lift the plastic bottle with bright red color and the plastic bottle with printed label.",
+    "Use one arm for the red bottle with curved grooves, the other for the bottle with brown body and white top.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the bottle with brown body and white top.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the bottle with dark brown color with the other.",
+    "Grasp the red bottle with screw cap first, then take the plastic bottle with printed label.",
+    "Grab the red bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Catch the medium-size plastic bottle, then catch 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 narrow neck and pick up the medium plastic bottle.",
+    "Take hold of the handheld plastic bottle and the bottle with white cap.",
+    "Hold the red bottle with screw cap with one arm, hold the bottle with dark brown color with the other.",
+    "Secure both the plastic bottle with bright red color and the rounded bottle with printed details quickly.",
+    "Hold onto the red bottle with screw cap and then get the cylindrical bottle with narrow neck.",
+    "Catch the medium-size plastic bottle with one arm, the bottle with brown body and white top with another arm.",
+    "Catch the plastic bottle, grab the bottle with white cap next.",
+    "Catch the red bottle with white bottom text, then grab the smooth brown bottle too.",
+    "Catch the red bottle with screw cap in one arm and the bottle with brown body and white top in the other arm.",
+    "Grab the bottle with red cap with one arm, the smooth brown bottle with the other.",
+    "Let each arm grab either the medium-size plastic bottle or the bottle with brown body and white top.",
+    "With two arms, catch both the bottle with red cap and the bottle with white cap.",
+    "Use both arms to pick up the red bottle and the white-capped brown cylindrical bottle.",
+    "Pick up both the bottle with red cap and the plastic bottle for liquids.",
+    "Grab the red bottle with narrow neck using one arm and the handheld brown bottle with white lid using the other.",
+    "Each arm should pick up one: the red bottle with narrow neck, then the cylindrical bottle with narrow neck.",
+    "Use both arms to lift the handheld plastic bottle and the bottle with brown body and white top.",
+    "Collect the red bottle with screw cap, then pick up the bottle with dark brown color.",
+    "Hold the red bottle with white bottom text in one arm, the handheld brown bottle with white lid in the other.",
+    "Assign one arm to catch the yellow text bottle, one for the handheld brown bottle with white lid.",
+    "Pick up the red bottle with white bottom text, then pick up the plastic bottle with printed label.",
+    "Pick up both the red bottle with curved grooves and the bottle with white cap together.",
+    "Catch the plastic bottle, then take hold of the bottle with white cap.",
+    "Hold onto the red bottle with narrow neck, then pick up the white-capped brown cylindrical bottle.",
+    "Use one arm for the plastic bottle with bright red color, another for the medium plastic bottle.",
+    "Lift both the red bottle and the bottle with dark brown color simultaneously.",
+    "Pick both the red bottle with curved grooves and the medium bottle with smooth texture one after another.",
+    "Grab the handheld plastic bottle using an arm and the handheld brown bottle with white lid with the other arm.",
+    "One arm grabs the yellow text bottle; the other arm grabs the bottle with brown body and white top.",
+    "Grab the red bottle with white bottom text, pick up the plastic bottle for liquids.",
+    "With both arms, pick up the red bottle with curved grooves, then the rounded bottle with printed details.",
+    "Hold both the plastic bottle with bright red color and the medium bottle with smooth texture.",
+    "Grab and hold the handheld plastic bottle, then grab the rounded bottle with printed details.",
+    "Secure the bottle with red cap and the handheld brown bottle with white lid in succession.",
+    "Lift the red bottle with screw cap and the cylindrical bottle with narrow neck with separate arms.",
+    "Catch both the medium-size plastic bottle and the rounded bottle with printed details quickly.",
+    "Pick up the red bottle with curved grooves and then pick up the medium bottle with smooth texture.",
+    "Hold the handheld plastic bottle in one arm, catch the medium bottle with smooth texture with the other arm.",
+    "Secure the plastic bottle with bright red color, then secure the rounded bottle with printed details.",
+    "Lift the plastic bottle with bright red color and also take hold of 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.",
+    "Assign one arm to each of the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Use each arm to lift the yellow text bottle and the bottle with brown body and white top.",
+    "Use one arm for the red bottle with curved grooves, the other for the smooth brown bottle.",
+    "Use one arm for the yellow text bottle and the other for the bottle with brown body and white top.",
+    "Lift both bottles, the handheld plastic bottle with one arm, the smooth brown bottle with the other."
+  ],
+  "unseen": [
+    "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 bottle at once.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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 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.",
+    "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 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.",
+    "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 cylindrical bottle with label together.",
+    "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 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.",
+    "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 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 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.",
+    "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 cylindrical bottle with label at the same time.",
+    "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 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 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 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 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 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.",
+    "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 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 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 bottle with white and yellow label and take 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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 lightweight plastic 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 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 bottle with yellow Chinese characters 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.",
+    "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 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.",
+    "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 cylindrical bottle with label together.",
+    "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.",
+    "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.",
+    "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 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 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 bottle with white and yellow label and take the lightweight plastic brown bottle together.",
+    "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 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."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode37.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With two arms, catch both the smooth red cylindrical bottle and the plastic bottle with printed label.",
+    "Grab the plastic bottle with bright red color, pick up the cylindrical bottle with narrow neck.",
+    "Lift the red bottle and also take hold of the rounded bottle with printed details.",
+    "Use both arms to pick up the handheld plastic bottle and the bottle with dark brown color.",
+    "Catch the yellow text bottle, then grab the bottle with white cap too.",
+    "Use one arm for the medium-size plastic bottle, the other for the plastic bottle with printed label.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the white-capped brown cylindrical bottle.",
+    "Pick up both the red bottle with curved grooves and the bottle with brown body and white top.",
+    "Hold the bottle with red cap in one arm, the handheld brown bottle with white lid in the other.",
+    "Hold both the plastic bottle and the bottle with brown body and white top.",
+    "Lift the bottle with red cap and the smooth brown bottle with separate arms.",
+    "Use both arms to lift the medium-size plastic bottle and the bottle with dark brown color.",
+    "Assign one arm to catch the yellow text bottle, one for the cylindrical bottle with narrow neck.",
+    "Grasp the red bottle with white bottom text first, then take the medium plastic bottle.",
+    "Hold onto the red bottle, then pick up the bottle with white cap.",
+    "Catch both the yellow text bottle and the bottle with brown body and white top quickly.",
+    "Catch the red bottle with screw cap with one arm, the medium plastic bottle with another arm.",
+    "Catch the bottle with red cap, then take hold of the medium plastic bottle.",
+    "Lift both bottles, the red bottle with curved grooves with one arm, the bottle with white cap with the other.",
+    "Grab and hold the plastic bottle, then grab the white-capped brown cylindrical bottle.",
+    "Take hold of the yellow text bottle and the white-capped brown cylindrical bottle.",
+    "Hold the plastic bottle with bright red color with one arm, hold the smooth brown bottle with the other.",
+    "Assign one arm to each of the red bottle with curved grooves and the medium plastic bottle.",
+    "Secure both the plastic bottle with bright red color and the medium bottle with smooth texture quickly.",
+    "Grab the red bottle using an arm and the cylindrical bottle with narrow neck with the other arm.",
+    "Grab the plastic bottle with bright red color with one arm, the rounded bottle with printed details with the other.",
+    "Use each arm to lift the red bottle with curved grooves and the smooth brown bottle.",
+    "With both arms, pick up the red bottle, then the cylindrical bottle with narrow neck.",
+    "Lift the bottle with red cap, continue and pick up the cylindrical bottle with narrow neck.",
+    "Grab the bottle with red cap using one arm and the smooth brown bottle using the other.",
+    "Let each arm grab either the handheld plastic bottle or the plastic bottle for liquids.",
+    "Use one arm for the plastic bottle and the other for the cylindrical bottle with narrow neck.",
+    "Hold the handheld plastic bottle in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Secure the medium-size plastic bottle, then secure the bottle with brown body and white top.",
+    "Use both arms to pick up the yellow text bottle and the medium plastic bottle.",
+    "Hold onto the plastic bottle and then get the cylindrical bottle with narrow neck.",
+    "Pick both the bottle with red cap and the medium bottle with smooth texture one after another.",
+    "Secure the handheld plastic bottle and the bottle with dark brown color in succession.",
+    "Use one arm for the red bottle with narrow neck, another for the medium plastic bottle.",
+    "Grab the plastic bottle and pick up the smooth brown bottle.",
+    "Pick up the smooth red cylindrical bottle, then pick up the medium plastic bottle.",
+    "Lift both the medium-size plastic bottle and the handheld brown bottle with white lid simultaneously.",
+    "Pick up the red bottle with white bottom text and then pick up the bottle with dark brown color.",
+    "Collect the plastic bottle, then pick up the bottle with brown body and white top.",
+    "Grab the plastic bottle with one arm, the plastic bottle with printed label with the other.",
+    "Pick up both the red bottle with curved grooves and the medium plastic bottle together.",
+    "Catch the yellow text bottle, then catch the handheld brown bottle with white lid.",
+    "Catch the plastic bottle with bright red color in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "Catch the plastic bottle with bright red color, grab the smooth brown bottle next.",
+    "One arm grabs the red bottle; the other arm grabs the medium bottle with smooth texture.",
+    "With two arms, catch both the plastic bottle and the medium plastic bottle.",
+    "Grab the plastic bottle with bright red color, pick up the smooth brown bottle.",
+    "Lift the plastic bottle with bright red color and also take hold of the plastic bottle for liquids.",
+    "Use both arms to pick up the red bottle with white bottom text and the smooth brown bottle.",
+    "Catch the red bottle with narrow neck, then grab the bottle with dark brown color too.",
+    "Use one arm for the red bottle with screw cap, the other for the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the yellow text bottle, then the white-capped brown cylindrical bottle.",
+    "Pick up both the red bottle with narrow neck and the rounded bottle with printed details.",
+    "Hold the medium-size plastic bottle in one arm, the white-capped brown cylindrical bottle in the other.",
+    "Hold both the red bottle with curved grooves and the bottle with white cap.",
+    "Lift the red bottle with narrow neck and the cylindrical bottle with narrow neck with separate arms.",
+    "Use both arms to lift the bottle with red cap and the medium bottle with smooth texture.",
+    "Assign one arm to catch the bottle with red cap, one for the bottle with dark brown color.",
+    "Grasp the red bottle with screw cap first, then take the medium plastic bottle.",
+    "Hold onto the red bottle with narrow neck, then pick up the cylindrical bottle with narrow neck.",
+    "Catch both the plastic bottle with bright red color and the medium bottle with smooth texture quickly.",
+    "Catch the red bottle with curved grooves with one arm, the white-capped brown cylindrical bottle with another arm.",
+    "Catch the handheld plastic bottle, then take hold of the bottle with brown body and white top.",
+    "Lift both bottles, the red bottle with screw cap with one arm, the handheld brown bottle with white lid with the other.",
+    "Grab and hold the bottle with red cap, then grab the white-capped brown cylindrical bottle.",
+    "Take hold of the red bottle with white bottom text and the plastic bottle for liquids.",
+    "Hold the plastic bottle with bright red color with one arm, hold the medium plastic bottle with the other.",
+    "Assign one arm to each of the red bottle with narrow neck and the rounded bottle with printed details.",
+    "Secure both the red bottle with white bottom text and the rounded bottle with printed details quickly.",
+    "Grab the red bottle with screw cap using an arm and the plastic bottle for liquids with the other arm.",
+    "Grab the medium-size plastic bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Use each arm to lift the plastic bottle and the bottle with white cap.",
+    "With both arms, pick up the red bottle with screw cap, then the smooth brown bottle.",
+    "Lift the bottle with red cap, continue and pick up the bottle with white cap.",
+    "Grab the red bottle with white bottom text using one arm and the plastic bottle for liquids using the other.",
+    "Let each arm grab either the red bottle with screw cap or the handheld brown bottle with white lid.",
+    "Use one arm for the smooth red cylindrical bottle and the other for the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with screw cap in one arm, catch the bottle with brown body and white top with the other arm.",
+    "Secure the red bottle with narrow neck, then secure the rounded bottle with printed details.",
+    "Use both arms to pick up the bottle with red cap and the plastic bottle for liquids.",
+    "Hold onto the smooth red cylindrical bottle and then get the handheld brown bottle with white lid.",
+    "Pick both the plastic bottle and the plastic bottle for liquids one after another.",
+    "Secure the red bottle with white bottom text and the bottle with white cap in succession.",
+    "Use one arm for the medium-size plastic bottle, another for the cylindrical bottle with narrow neck.",
+    "Grab the medium-size plastic bottle and pick up the plastic bottle for liquids.",
+    "Pick up the plastic bottle with bright red color, then pick up the handheld brown bottle with white lid.",
+    "Lift both the handheld plastic bottle and the white-capped brown cylindrical bottle simultaneously.",
+    "Pick up the handheld plastic bottle and then pick up the medium bottle with smooth texture.",
+    "Collect the plastic bottle with bright red color, then pick up the medium bottle with smooth texture.",
+    "Grab the yellow text bottle with one arm, the plastic bottle for liquids with the other.",
+    "Pick up both the yellow text bottle and the bottle with brown body and white top together.",
+    "Catch the yellow text bottle, then catch the bottle with brown body and white top.",
+    "Catch the bottle with red cap in one arm and the plastic bottle with printed label in the other arm.",
+    "Catch the handheld plastic bottle, grab the smooth brown bottle next.",
+    "One arm grabs the yellow text bottle; the other arm grabs the bottle with dark brown color."
+  ],
+  "unseen": [
+    "Grab the shiny red bottle and grab the lightweight plastic brown bottle at once.",
+    "Pick up 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.",
+    "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.",
+    "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 lightweight plastic brown bottle.",
+    "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 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.",
+    "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.",
+    "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 lightweight plastic brown bottle.",
+    "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 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 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 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.",
+    "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 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.",
+    "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 both the bottle with yellow Chinese characters 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 grab the lightweight plastic brown bottle at once.",
+    "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 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.",
+    "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 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 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 brown bottle at once.",
+    "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.",
+    "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 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 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 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 grab the brown cylindrical bottle with label at once.",
+    "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 bottle together.",
+    "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.",
+    "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 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.",
+    "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 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 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 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 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 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 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 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 yellow Chinese characters and the brown cylindrical bottle with label.",
+    "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 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 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 the brown bottle 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 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 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 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.",
+    "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 the brown cylindrical bottle with label 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.",
+    "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 lightweight plastic 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.",
+    "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 bottle with the other."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode38.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the smooth red cylindrical bottle and the other for the handheld brown bottle with white lid.",
+    "Collect the red bottle with white bottom text, then pick up the rounded bottle with printed details.",
+    "Hold onto the yellow text bottle and then get the bottle with dark brown color.",
+    "Lift both the handheld plastic bottle and the plastic bottle with printed label simultaneously.",
+    "Grab the red bottle with curved grooves, pick up the plastic bottle for liquids.",
+    "Use one arm for the red bottle with narrow neck, the other for the handheld brown bottle with white lid.",
+    "Lift the red bottle with screw cap, continue and pick up the smooth brown bottle.",
+    "Use both arms to pick up the smooth red cylindrical bottle and the bottle with white cap.",
+    "Grab the red 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 white-capped brown cylindrical bottle.",
+    "Catch the red bottle with curved grooves in one arm and the handheld brown bottle with white lid in the other arm.",
+    "Grab the red bottle and pick up the cylindrical bottle with narrow neck.",
+    "Hold the smooth red cylindrical bottle in one arm, the bottle with brown body and white top in the other.",
+    "With two arms, catch both the plastic bottle with bright red color and the bottle with dark brown color.",
+    "Let each arm grab either the smooth red cylindrical bottle or the plastic bottle with printed label.",
+    "Grasp the handheld plastic bottle first, then take the handheld brown bottle with white lid.",
+    "Grab the red bottle with screw cap with one arm, the plastic bottle with printed label with the other.",
+    "Pick up the medium-size plastic bottle and then pick up the medium plastic bottle.",
+    "One arm grabs the red bottle with narrow neck; the other arm grabs the cylindrical bottle with narrow neck.",
+    "Grab and hold the smooth red cylindrical bottle, then grab the smooth brown bottle.",
+    "Hold the medium-size plastic bottle in one arm, catch the bottle with white cap with the other arm.",
+    "Lift the red bottle with screw cap and the handheld brown bottle with white lid with separate arms.",
+    "Use one arm for the plastic bottle, another for the bottle with brown body and white top.",
+    "Hold both the red bottle with screw cap and the handheld brown bottle with white lid.",
+    "Secure the red bottle with screw cap and the medium plastic bottle in succession.",
+    "Catch the red bottle with screw cap with one arm, the smooth brown bottle with another arm.",
+    "Catch the smooth red cylindrical bottle, grab the medium plastic bottle next.",
+    "Assign one arm to catch the red bottle with screw cap, one for the handheld brown bottle with white lid.",
+    "Pick up both the plastic bottle with bright red color and the cylindrical bottle with narrow neck.",
+    "Assign one arm to each of the plastic bottle with bright red color and the bottle with brown body and white top.",
+    "Pick both the red bottle with screw cap and the plastic bottle for liquids one after another.",
+    "Pick up the red bottle, then pick up the smooth brown bottle.",
+    "Catch both the red bottle with screw cap and the cylindrical bottle with narrow neck quickly.",
+    "Grab the bottle with red cap with one arm, the handheld brown bottle with white lid with the other.",
+    "Pick up both the yellow text bottle and the bottle with dark brown color together.",
+    "Hold onto the smooth red cylindrical bottle, then pick up the bottle with dark brown color.",
+    "Use each arm to lift the handheld plastic bottle and the cylindrical bottle with narrow neck.",
+    "Secure both the red bottle with narrow neck and the smooth brown bottle quickly.",
+    "Catch the handheld plastic bottle, then take hold of the white-capped brown cylindrical bottle.",
+    "Each arm should pick up one: the plastic bottle with bright red color, then the medium plastic bottle.",
+    "Use both arms to lift the red bottle with white bottom text and the rounded bottle with printed details.",
+    "Take hold of the yellow text bottle and the bottle with white cap.",
+    "With both arms, pick up the plastic bottle with bright red color, then the bottle with dark brown color.",
+    "Grab the red bottle with screw cap using an arm and the plastic bottle for liquids with the other arm.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the medium bottle with smooth texture with the other.",
+    "Catch the bottle with red cap, then grab the rounded bottle with printed details too.",
+    "Use both arms to pick up the plastic bottle and the white-capped brown cylindrical bottle.",
+    "Hold the yellow text bottle with one arm, hold the bottle with brown body and white top with the other.",
+    "Catch the red bottle, then catch the white-capped brown cylindrical bottle.",
+    "Secure the yellow text bottle, then secure the medium bottle with smooth texture.",
+    "Use one arm for the red bottle with narrow neck and the other for the medium bottle with smooth texture.",
+    "Collect the red bottle, then pick up the plastic bottle for liquids.",
+    "Hold onto the medium-size plastic bottle and then get the bottle with dark brown color.",
+    "Lift both the plastic bottle and the medium plastic bottle simultaneously.",
+    "Grab the red bottle with curved grooves, pick up the medium plastic bottle.",
+    "Use one arm for the bottle with red cap, the other for the handheld brown bottle with white lid.",
+    "Lift the plastic bottle, continue and pick up the rounded bottle with printed details.",
+    "Use both arms to pick up the handheld plastic bottle and the medium bottle with smooth texture.",
+    "Grab the bottle with red cap using one arm and the handheld brown bottle with white lid using the other.",
+    "Lift the medium-size plastic bottle and also take hold of the rounded bottle with printed details.",
+    "Catch the handheld plastic bottle in one arm and the medium bottle with smooth texture in the other arm.",
+    "Grab the handheld plastic bottle and pick up the bottle with dark brown color.",
+    "Hold the yellow text bottle in one arm, the plastic bottle for liquids in the other.",
+    "With two arms, catch both the handheld plastic bottle and the plastic bottle with printed label.",
+    "Let each arm grab either the bottle with red cap or the plastic bottle for liquids.",
+    "Grasp the red bottle with curved grooves first, then take the medium bottle with smooth texture.",
+    "Grab the red bottle with screw cap with one arm, the plastic bottle for liquids with the other.",
+    "Pick up the red bottle and then pick up the bottle with white cap.",
+    "One arm grabs the bottle with red cap; the other arm grabs the bottle with dark brown color.",
+    "Grab and hold the red bottle with curved grooves, then grab the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with narrow neck in one arm, catch the plastic bottle with printed label with the other arm.",
+    "Lift the red bottle with curved grooves and the medium plastic bottle with separate arms.",
+    "Use one arm for the handheld plastic bottle, another for the smooth brown bottle.",
+    "Hold both the medium-size plastic bottle and the white-capped brown cylindrical bottle.",
+    "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 rounded bottle with printed details with another arm.",
+    "Catch the red bottle, grab the plastic bottle for liquids next.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the smooth brown bottle.",
+    "Pick up both the smooth red cylindrical bottle and the white-capped brown cylindrical bottle.",
+    "Assign one arm to each of the red bottle with white bottom text and the plastic bottle for liquids.",
+    "Pick both the medium-size plastic bottle and the handheld brown bottle with white lid one after another.",
+    "Pick up the red bottle with screw cap, then pick up the cylindrical bottle with narrow neck.",
+    "Catch both the red bottle with white bottom text and the medium plastic bottle quickly.",
+    "Grab the medium-size plastic bottle with one arm, the plastic bottle with printed label with the other.",
+    "Pick up both the yellow text bottle and the handheld brown bottle with white lid together.",
+    "Hold onto the handheld plastic bottle, then pick up the rounded bottle with printed details.",
+    "Use each arm to lift the yellow text bottle and the plastic bottle for liquids.",
+    "Secure both the red bottle and the smooth brown bottle quickly.",
+    "Catch the smooth red cylindrical bottle, then take hold of the plastic bottle with printed label.",
+    "Each arm should pick up one: the red bottle with white bottom text, then the white-capped brown cylindrical bottle.",
+    "Use both arms to lift the handheld plastic bottle and the bottle with dark brown color.",
+    "Take hold of the red bottle with white bottom text and the plastic bottle with printed label.",
+    "With both arms, pick up the medium-size plastic bottle, then the bottle with white cap.",
+    "Grab the handheld plastic bottle using an arm and the plastic bottle for liquids with the other arm.",
+    "Lift both bottles, the red bottle with screw cap with one arm, the cylindrical bottle with narrow neck with the other.",
+    "Catch the yellow text bottle, then grab the plastic bottle with printed label too.",
+    "Use both arms to pick up the red bottle with white bottom text and the rounded bottle with printed details.",
+    "Hold the red bottle with screw cap with one arm, hold the white-capped brown cylindrical bottle with the other.",
+    "Catch the red bottle with narrow neck, then catch the cylindrical bottle with narrow neck.",
+    "Secure the red bottle with curved grooves, then secure the bottle with brown body and white top."
+  ],
+  "unseen": [
+    "Grab 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.",
+    "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 lightweight plastic brown bottle with the other.",
+    "Pick up both the shiny red bottle and the brown bottle together.",
+    "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.",
+    "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 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 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 the shiny red bottle 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.",
+    "Pick up both the shiny red bottle 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.",
+    "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 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.",
+    "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.",
+    "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 both 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.",
+    "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.",
+    "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 brown bottle with the other.",
+    "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 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 brown cylindrical bottle with label with 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 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 yellow Chinese characters and the lightweight plastic brown bottle.",
+    "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.",
+    "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.",
+    "Pick up the shiny red bottle and take the brown bottle together.",
+    "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 lightweight plastic 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 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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "Use each arm to grab the shiny red bottle and the brown bottle.",
+    "Pick up the shiny red bottle 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 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 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 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.",
+    "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 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 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.",
+    "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 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 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 brown cylindrical bottle with label.",
+    "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 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 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.",
+    "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 cylindrical bottle with label with the other.",
+    "Pick up both the bottle with yellow Chinese characters 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 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 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.",
+    "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.",
+    "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 bottle with the other.",
+    "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 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.",
+    "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 lightweight plastic brown bottle together."
+  ]
+}

spatial/train/pick_diverse_bottles/rtgen_spatial_train_pick_diverse_bottles_default_region/instructions/episode39.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the smooth red cylindrical bottle, grab the smooth brown bottle next.",
+    "Pick up the yellow text bottle and then pick up the bottle with white cap.",
+    "Grab the medium-size plastic bottle and pick up the medium bottle with smooth texture.",
+    "Assign one arm to catch the red bottle with narrow neck, one for the medium plastic bottle.",
+    "Grasp the red bottle with white bottom text first, then take the bottle with white cap.",
+    "Hold both the red bottle with narrow neck and the handheld brown bottle with white lid.",
+    "Catch the plastic bottle in one arm and the medium plastic bottle in the other arm.",
+    "Use one arm for the plastic bottle with bright red color and the other for the plastic bottle for liquids.",
+    "Grab the red bottle with narrow neck using one arm and the bottle with white cap using the other.",
+    "Catch the plastic bottle with bright red color, then catch the plastic bottle with printed label.",
+    "Lift the red bottle with white bottom text and also take hold of the plastic bottle with printed label.",
+    "Catch the bottle with red cap with one arm, the bottle with white cap with another arm.",
+    "Grab the medium-size plastic bottle, pick up the medium bottle with smooth texture.",
+    "Pick both the red bottle with white bottom text and the white-capped brown cylindrical bottle one after another.",
+    "Lift the red bottle with narrow neck and the medium bottle with smooth texture with separate arms.",
+    "Lift the red bottle with narrow neck, continue and pick up the medium bottle with smooth texture.",
+    "Lift both bottles, the plastic bottle with bright red color with one arm, the medium bottle with smooth texture with the other.",
+    "Take hold of the bottle with red cap and the plastic bottle for liquids.",
+    "Hold the red bottle with screw cap with one arm, hold the smooth brown bottle with the other.",
+    "Hold onto the red bottle with narrow neck and then get the plastic bottle for liquids.",
+    "Secure both the handheld plastic bottle and the bottle with dark brown color quickly.",
+    "Catch both the yellow text bottle and the plastic bottle for liquids quickly.",
+    "Hold the smooth red cylindrical bottle in one arm, the medium plastic bottle in the other.",
+    "Secure the red bottle with screw cap, then secure the white-capped brown cylindrical bottle.",
+    "Use one arm for the handheld plastic bottle, the other for the rounded bottle with printed details.",
+    "Grab the medium-size plastic bottle using an arm and the medium plastic bottle with the other arm.",
+    "Pick up both the smooth red cylindrical bottle and the rounded bottle with printed details together.",
+    "Secure the plastic bottle and the medium plastic bottle in succession.",
+    "Use both arms to pick up the red bottle with curved grooves and the white-capped brown cylindrical bottle.",
+    "Lift both the red bottle with screw cap and the bottle with brown body and white top simultaneously.",
+    "Use both arms to lift the red bottle with curved grooves and the plastic bottle with printed label.",
+    "Catch the red bottle with white bottom text, then take hold of the cylindrical bottle with narrow neck.",
+    "Pick up both the red bottle with white bottom text and the rounded bottle with printed details.",
+    "Use each arm to lift the plastic bottle and the smooth brown bottle.",
+    "Let each arm grab either the bottle with red cap or the medium plastic bottle.",
+    "Collect the red bottle with narrow neck, then pick up the smooth brown bottle.",
+    "Grab the red bottle with screw cap with one arm, the bottle with brown body and white top with the other.",
+    "Pick up the red bottle with curved grooves, then pick up the smooth brown bottle.",
+    "Catch the bottle with red cap, then grab the bottle with dark brown color too.",
+    "Hold onto the bottle with red cap, then pick up the handheld brown bottle with white lid.",
+    "Grab and hold the bottle with red cap, then grab the plastic bottle for liquids.",
+    "Use both arms to pick up the yellow text bottle and the rounded bottle with printed details.",
+    "One arm grabs the plastic bottle; the other arm grabs the bottle with brown body and white top.",
+    "Grab the yellow text bottle with one arm, the bottle with brown body and white top with the other.",
+    "Each arm should pick up one: the red bottle, then the plastic bottle for liquids.",
+    "With both arms, pick up the red bottle with screw cap, then the bottle with white cap.",
+    "Use one arm for the red bottle with curved grooves, another for the handheld brown bottle with white lid.",
+    "With two arms, catch both the bottle with red cap and the white-capped brown cylindrical bottle.",
+    "Hold the red bottle with curved grooves in one arm, catch the bottle with white cap with the other arm.",
+    "Assign one arm to each of the yellow text bottle and the medium bottle with smooth texture.",
+    "Catch the red bottle, grab the medium plastic bottle next.",
+    "Pick up the medium-size plastic bottle and then pick up the cylindrical bottle with narrow neck.",
+    "Grab the yellow text bottle and pick up the bottle with white cap.",
+    "Assign one arm to catch the smooth red cylindrical bottle, one for the bottle with brown body and white top.",
+    "Grasp the plastic bottle with bright red color first, then take the cylindrical bottle with narrow neck.",
+    "Hold both the red bottle with curved grooves and the bottle with white cap.",
+    "Catch the handheld plastic bottle in one arm and the cylindrical bottle with narrow neck in the other arm.",
+    "Use one arm for the handheld plastic bottle and the other for the rounded bottle with printed details.",
+    "Grab the smooth red cylindrical bottle using one arm and the smooth brown bottle using the other.",
+    "Catch the handheld plastic bottle, then catch the bottle with white cap.",
+    "Lift the red bottle with narrow neck and also take hold of the plastic bottle for liquids.",
+    "Catch the medium-size plastic bottle with one arm, the plastic bottle for liquids with another arm.",
+    "Grab the red bottle with white bottom text, pick up the medium bottle with smooth texture.",
+    "Pick both the medium-size plastic bottle and the plastic bottle with printed label one after another.",
+    "Lift the red bottle and the bottle with brown body and white top with separate arms.",
+    "Lift the smooth red cylindrical bottle, continue and pick up the smooth brown bottle.",
+    "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 yellow text bottle and the medium plastic bottle.",
+    "Hold the smooth red cylindrical bottle with one arm, hold the medium plastic bottle with the other.",
+    "Hold onto the red bottle with curved grooves and then get the medium plastic bottle.",
+    "Secure both the red bottle with narrow neck and the medium plastic bottle quickly.",
+    "Catch both the red bottle with curved grooves and the bottle with brown body and white top quickly.",
+    "Hold the yellow text bottle in one arm, the medium plastic bottle in the other.",
+    "Secure the red bottle with screw cap, then secure the plastic bottle for liquids.",
+    "Use one arm for the yellow text bottle, the other for the bottle with dark brown color.",
+    "Grab the medium-size plastic bottle using an arm and the medium plastic bottle with the other arm.",
+    "Pick up both the red bottle and the bottle with brown body and white top together.",
+    "Secure the smooth red cylindrical bottle and the medium bottle with smooth texture in succession.",
+    "Use both arms to pick up the red bottle and the plastic bottle for liquids.",
+    "Lift both the bottle with red cap and the white-capped brown cylindrical bottle simultaneously.",
+    "Use both arms to lift the bottle with red cap and the medium plastic bottle.",
+    "Catch the plastic bottle with bright red color, then take hold of the white-capped brown cylindrical bottle.",
+    "Pick up both the plastic bottle with bright red color and the handheld brown bottle with white lid.",
+    "Use each arm to lift the red bottle with white bottom text and the cylindrical bottle with narrow neck.",
+    "Let each arm grab either the plastic bottle or the plastic bottle for liquids.",
+    "Collect the bottle with red cap, then pick up the rounded bottle with printed details.",
+    "Grab the medium-size plastic bottle with one arm, the handheld brown bottle with white lid with the other.",
+    "Pick up the red bottle with screw cap, then pick up the white-capped brown cylindrical bottle.",
+    "Catch the red bottle with white bottom text, then grab the white-capped brown cylindrical bottle too.",
+    "Hold onto the red bottle with curved grooves, then pick up the handheld brown bottle with white lid.",
+    "Grab and hold the red bottle with curved grooves, then grab the cylindrical bottle with narrow neck.",
+    "Use both arms to pick up the medium-size plastic bottle and the bottle with white cap.",
+    "One arm grabs the plastic bottle; the other arm grabs the bottle with brown body and white top.",
+    "Grab the bottle with red cap with one arm, the handheld brown bottle with white lid with the other.",
+    "Each arm should pick up one: the handheld plastic bottle, then the rounded bottle with printed details.",
+    "With both arms, pick up the red bottle with screw cap, then the medium plastic bottle.",
+    "Use one arm for the red bottle, another for the white-capped brown cylindrical bottle.",
+    "With two arms, catch both the red bottle with narrow neck and the bottle with brown body and white top.",
+    "Hold the red bottle with narrow neck in one arm, catch the cylindrical bottle with narrow neck with the other arm.",
+    "Assign one arm to each of the bottle with red cap and the plastic bottle with printed label."
+  ],
+  "unseen": [
+    "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 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 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 lightweight plastic brown bottle.",
+    "Use each arm to grab the shiny red bottle and the lightweight plastic 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 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 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 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 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.",
+    "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.",
+    "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 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 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 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 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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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 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 white and yellow label, then the brown bottle.",
+    "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 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 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 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.",
+    "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.",
+    "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 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 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 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 shiny red bottle 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.",
+    "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.",
+    "Use each arm to grab the shiny red bottle and 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 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 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.",
+    "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 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 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.",
+    "Grab the bottle with white and yellow label 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 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 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 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 both 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.",
+    "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 bottle at the same time.",
+    "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 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 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.",
+    "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.",
+    "Grab 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."
+  ]
+}