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background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the white plastic lid sauce can, position it near the kitchenpot for boiling and cooking",
+    "Pick the plastic lid sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Set the plastic lid sauce can right next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the cylindrical kitchenpot",
+    "Pick up the white plastic lid sauce can and put it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the smooth gray kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the cooking kitchenpot with side grips",
+    "Take the sauce can with glossy finish with the left arm, place it near the dark gray stove kitchenpot",
+    "Take the medium sauce can with white lid using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Place the plastic lid sauce can beside the cylindrical kitchenpot after picking it up",
+    "Grab the sauce can with glossy finish, move it to the gray cylindrical metal kitchenpot's side",
+    "Grab the cylindrical sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Pick up the yellow brown sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Take the plastic lid sauce can to the metal kitchenpot using the left arm",
+    "With the left arm, grab the rounded-edge sauce can and move to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern, move it, and place by the medium-sized kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the gray kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Move the round sauce can with yellow pattern from its spot to near the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and set it next to the smooth gray kitchenpot",
+    "Place the sauce can with glossy finish next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the kitchenpot with smooth exterior",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the sauce can and move it close to the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Pick the plastic lid sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Pick the sauce can with sealed top and position it next to the gray kitchenpot",
+    "Set the yellow brown sauce can near the medium-sized kitchenpot after picking it up",
+    "Lift the sauce can with sealed top and set it beside the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the smooth gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the gray cylindrical metal kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the metal kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can, place it by the kitchenpot with smooth exterior",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Move the plastic lid sauce can to the metal kitchenpot with the left arm",
+    "Lift the white plastic lid sauce can and place it next to the round kitchenpot with handles",
+    "Move the cylindrical sauce can to be next to the smooth gray kitchenpot",
+    "Move the rounded-edge sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and move it near the metal kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Pick the hand-sized sauce can up and move it next to the medium kitchenpot made of metal",
+    "Set the brown and yellow cylindrical sauce can right next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the gray kitchenpot",
+    "Pick up the hand-sized sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with sealed top and place it near the medium-sized kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Use the left arm to take the round sauce can with yellow pattern to the kitchenpot for boiling and cooking",
+    "Take the white plastic lid sauce can with the left arm, place it near the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Place the yellow brown sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Grab the round sauce can with yellow pattern, move it to the cooking kitchenpot with side grips's side",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Pick up the medium sauce can with white lid with the left arm and set by the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top to the medium-sized kitchenpot using the left arm",
+    "With the left arm, grab the yellow brown sauce can and move to the smooth gray kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the gray kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can, then place it next to the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the gray kitchenpot",
+    "Move the sauce can from its spot to near the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the round kitchenpot with handles",
+    "Place the rounded-edge sauce can next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the medium kitchenpot made of metal",
+    "Use the left arm to pick the sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern and move it close to the gray kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the kitchenpot with smooth exterior",
+    "Pick the rounded-edge sauce can and position it next to the round kitchenpot with handles",
+    "Set the yellow brown sauce can near the smooth gray kitchenpot after picking it up",
+    "Lift the rounded-edge sauce can and set it beside the dark gray stove kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the gray kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Use the left arm to move the plastic lid sauce can beside the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can, place it by the gray kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Move the sauce can to the gray kitchenpot with the left arm",
+    "Lift the white plastic lid sauce can and place it next to the round kitchenpot with handles",
+    "Move the plastic lid sauce can to be next to the cylindrical kitchenpot",
+    "Move the sauce can with glossy finish beside the kitchenpot for boiling and cooking after lifting it",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can and move it near the medium kitchenpot made of metal"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the yellow brown sauce can near the medium kitchenpot made of metal after picking it up",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the metal kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid and set it next to the cylindrical kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the smooth gray kitchenpot",
+    "Place the rounded-edge sauce can next to the round kitchenpot with handles",
+    "Move the medium sauce can with white lid beside the gray cylindrical metal kitchenpot after lifting it",
+    "Pick up the round sauce can with yellow pattern and put it beside the cooking kitchenpot with side grips",
+    "Move the round sauce can with yellow pattern to be next to the round kitchenpot with handles",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish using the left arm and position it by the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can, place it by the round kitchenpot with handles",
+    "Move the hand-sized sauce can to the medium kitchenpot made of metal with the left arm",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the metal kitchenpot",
+    "With the left arm, grab the sauce can with sealed top and move to the round kitchenpot with handles",
+    "Pick the sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and set it next to the medium-sized kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the cylindrical kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the medium kitchenpot made of metal",
+    "Pick the sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Take the sauce can with sealed top using the left arm, set it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the plastic lid sauce can and place it by the cylindrical kitchenpot",
+    "Take the medium sauce can with white lid to the round kitchenpot with handles using the left arm",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can, move it to the medium-sized kitchenpot's side",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the metal kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the round kitchenpot with handles",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the metal kitchenpot",
+    "Lift the hand-sized sauce can and move it near the gray kitchenpot",
+    "Place the hand-sized sauce can beside the round kitchenpot with handles after picking it up",
+    "Use the left arm to take the sauce can with sealed top to the smooth gray kitchenpot",
+    "Set the sauce can with sealed top near the gray cylindrical metal kitchenpot after picking it up",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can and place it next to the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the gray kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the cooking kitchenpot with side grips",
+    "Grab the sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the smooth gray kitchenpot",
+    "Pick the sauce can and position it next to the medium kitchenpot made of metal",
+    "Place the plastic lid sauce can next to the metal kitchenpot",
+    "Move the round sauce can with yellow pattern beside the gray kitchenpot after lifting it",
+    "Pick up the plastic lid sauce can and put it beside the medium kitchenpot made of metal",
+    "Move the sauce can with glossy finish to be next to the cylindrical kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can, place it by the kitchenpot with smooth exterior",
+    "Move the sauce can to the kitchenpot for boiling and cooking with the left arm",
+    "Use the left arm to lift the sauce can, then move it next to the kitchenpot with smooth exterior",
+    "With the left arm, grab the medium sauce can with white lid and move to the medium-sized kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern, then place it next to the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with sealed top with the left arm and set by the cooking kitchenpot with side grips",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and set it next to the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can and place it next to the smooth gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the cylindrical kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the metal kitchenpot",
+    "Set the hand-sized sauce can right next to the metal kitchenpot",
+    "Pick the yellow brown sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the smooth gray kitchenpot",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top to the gray cylindrical metal kitchenpot using the left arm",
+    "Pick up the sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can, move it to the round kitchenpot with handles's side",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the medium kitchenpot made of metal",
+    "Use the left arm to move the yellow brown sauce can beside the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the dark gray stove kitchenpot",
+    "Place the hand-sized sauce can beside the smooth gray kitchenpot after picking it up",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow brown sauce can and move it near the cylindrical kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the medium-sized kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the round kitchenpot with handles",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can, move it, and place by the gray kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the metal kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the metal kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the medium kitchenpot made of metal",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the metal kitchenpot",
+    "Move the sauce can beside the round kitchenpot with handles after lifting it",
+    "Pick up the hand-sized sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and place it next to the medium-sized kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top, move it to the kitchenpot for boiling and cooking's side",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the kitchenpot for boiling and cooking",
+    "Take the sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the round kitchenpot with handles",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the smooth gray kitchenpot",
+    "With the left arm, grab the plastic lid sauce can and move to the round kitchenpot with handles",
+    "Bring the white plastic lid sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the metal kitchenpot",
+    "Take the medium sauce can with white lid to the smooth gray kitchenpot using the left arm",
+    "Set the plastic lid sauce can right next to the gray kitchenpot",
+    "Set the white plastic lid sauce can near the cylindrical kitchenpot after picking it up",
+    "Lift the cylindrical sauce can, place it by the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the cylindrical kitchenpot",
+    "Pick the plastic lid sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the cylindrical kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the round kitchenpot with handles",
+    "Place the white plastic lid sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Move the rounded-edge sauce can to be next to the cylindrical kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the cylindrical kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can and position it next to the smooth gray kitchenpot",
+    "Place the cylindrical sauce can next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the smooth gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the dark gray stove kitchenpot",
+    "Move the hand-sized sauce can to the round kitchenpot with handles with the left arm",
+    "Use the left arm to take the yellow brown sauce can to the medium-sized kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid and move it close to the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid and set it beside the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern, move it, and place by the smooth gray kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the dark gray stove kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Pick the rounded-edge sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the smooth gray kitchenpot",
+    "Move the plastic lid sauce can beside the cylindrical kitchenpot after lifting it",
+    "Pick up the cylindrical sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can and place it next to the metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can, move it to the medium kitchenpot made of metal's side",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top with the left arm, place it near the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the round kitchenpot with handles",
+    "Lift the sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Pick the sauce can up and move it next to the smooth gray kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the metal kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the medium kitchenpot made of metal",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Take the rounded-edge sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Set the medium sauce can with white lid right next to the metal kitchenpot",
+    "Set the hand-sized sauce can near the cylindrical kitchenpot after picking it up",
+    "Lift the medium sauce can with white lid, place it by the cylindrical kitchenpot",
+    "Lift the sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Move the sauce can with sealed top from its spot to near the gray cylindrical metal kitchenpot",
+    "Place the medium sauce can with white lid beside the kitchenpot with smooth exterior after picking it up",
+    "Move the plastic lid sauce can to be next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the dark gray stove kitchenpot",
+    "Pick the sauce can and position it next to the kitchenpot with smooth exterior",
+    "Place the sauce can with sealed top next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the medium-sized kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the medium-sized kitchenpot",
+    "Move the rounded-edge sauce can to the dark gray stove kitchenpot with the left arm",
+    "Use the left arm to take the sauce can with glossy finish to the kitchenpot with smooth exterior",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the round sauce can with yellow pattern to be next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Bring the sauce can over and set it near the medium-sized kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the metal kitchenpot",
+    "Move the plastic lid sauce can from its spot to near the medium-sized kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it near the cooking kitchenpot with side grips",
+    "Pick the plastic lid sauce can up and move it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the gray cylindrical metal kitchenpot",
+    "Lift the sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Grab the hand-sized sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the dark gray stove kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the smooth gray kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with sealed top and put it beside the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid, move it, and place by the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the gray kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the medium kitchenpot made of metal",
+    "Place the plastic lid sauce can next to the kitchenpot for boiling and cooking",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Take the sauce can with sealed top using the left arm, set it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the round kitchenpot with handles",
+    "Set the sauce can right next to the kitchenpot with smooth exterior",
+    "Move the medium sauce can with white lid to the cylindrical kitchenpot with the left arm",
+    "Lift the sauce can with sealed top and move it near the medium kitchenpot made of metal",
+    "Take the sauce can with glossy finish to the dark gray stove kitchenpot using the left arm",
+    "Grab the yellow brown sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can and set it beside the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Set the sauce can with glossy finish near the gray kitchenpot after picking it up",
+    "Pick up the sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the gray kitchenpot",
+    "Place the sauce can with sealed top beside the metal kitchenpot after picking it up",
+    "Lift the sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can, place it by the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the cooking kitchenpot with side grips",
+    "Pick the cylindrical sauce can and position it next to the dark gray stove kitchenpot",
+    "Lift the sauce can, then place it next to the gray kitchenpot",
+    "Move the white plastic lid sauce can beside the cylindrical kitchenpot after lifting it",
+    "Lift the medium sauce can with white lid using the left arm and position it by the metal kitchenpot",
+    "Move the hand-sized sauce can to be next to the medium kitchenpot made of metal",
+    "Pick the rounded-edge sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Bring the medium sauce can with white lid over and set it near the metal kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Move the plastic lid sauce can from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can and place it near the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the smooth gray kitchenpot's side",
+    "Use the left arm to take the sauce can to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the round kitchenpot with handles",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the gray cylindrical metal kitchenpot",
+    "Pick up the hand-sized sauce can and put it beside the cylindrical kitchenpot",
+    "Grab the sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the cooking kitchenpot with side grips",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the metal kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the gray kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the cooking kitchenpot with side grips",
+    "Place the sauce can with glossy finish next to the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Take the yellow brown sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the dark gray stove kitchenpot",
+    "Set the plastic lid sauce can right next to the smooth gray kitchenpot",
+    "Move the yellow brown sauce can to the dark gray stove kitchenpot with the left arm",
+    "Lift the medium sauce can with white lid and move it near the medium kitchenpot made of metal",
+    "Take the white plastic lid sauce can to the metal kitchenpot using the left arm",
+    "Grab the sauce can with glossy finish with the left arm and set it near the metal kitchenpot",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the metal kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Lift the sauce can and set it beside the metal kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Set the white plastic lid sauce can near the gray kitchenpot after picking it up",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the gray kitchenpot",
+    "Place the yellow brown sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Lift the sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Lift the yellow brown sauce can, place it by the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the smooth gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the round kitchenpot with handles",
+    "With the left arm, grab the sauce can with glossy finish and move to the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can and position it next to the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the medium-sized kitchenpot",
+    "Move the rounded-edge sauce can beside the smooth gray kitchenpot after lifting it",
+    "Lift the sauce can using the left arm and position it by the metal kitchenpot"
+  ],
+  "unseen": [
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the kitchenpot with smooth exterior",
+    "Set the medium sauce can with white lid near the kitchenpot for boiling and cooking after picking it up",
+    "Lift the yellow brown sauce can and place it next to the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can, move it to the metal kitchenpot's side",
+    "Lift the yellow brown sauce can and set it beside the smooth gray kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the round kitchenpot with handles",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "With the left arm, grab the sauce can with glossy finish and move to the smooth gray kitchenpot",
+    "Take the rounded-edge sauce can to the gray kitchenpot using the left arm",
+    "Pick up the medium sauce can with white lid and put it beside the kitchenpot for boiling and cooking",
+    "Place the yellow brown sauce can next to the cooking kitchenpot with side grips",
+    "Place the medium sauce can with white lid beside the metal kitchenpot after picking it up",
+    "Bring the hand-sized sauce can over and set it near the kitchenpot with smooth exterior",
+    "Use the left arm to take the sauce can with sealed top to the dark gray stove kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Grab the yellow brown sauce can and move it close to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the gray kitchenpot",
+    "Pick the round sauce can with yellow pattern and position it next to the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the metal kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Lift the sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the dark gray stove kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Lift the sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid using the left arm and position it by the gray kitchenpot",
+    "Move the medium sauce can with white lid to be next to the metal kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the medium-sized kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the smooth gray kitchenpot",
+    "Move the rounded-edge sauce can to the smooth gray kitchenpot with the left arm",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid, place it by the cooking kitchenpot with side grips",
+    "Take the sauce can with glossy finish with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the metal kitchenpot",
+    "Set the white plastic lid sauce can right next to the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the medium-sized kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can and set it next to the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Take the yellow brown sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Move the hand-sized sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Pick the cylindrical sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Lift the sauce can with sealed top and place it next to the round kitchenpot with handles",
+    "Grab the brown and yellow cylindrical sauce can, move it to the smooth gray kitchenpot's side",
+    "Lift the medium sauce can with white lid and set it beside the cylindrical kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the medium kitchenpot made of metal",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the medium kitchenpot made of metal",
+    "With the left arm, grab the cylindrical sauce can and move to the medium kitchenpot made of metal",
+    "Take the cylindrical sauce can to the round kitchenpot with handles using the left arm",
+    "Pick up the round sauce can with yellow pattern and put it beside the kitchenpot with smooth exterior",
+    "Place the hand-sized sauce can next to the medium kitchenpot made of metal",
+    "Place the rounded-edge sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Bring the sauce can with glossy finish over and set it near the medium kitchenpot made of metal",
+    "Use the left arm to take the sauce can with glossy finish to the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top and move it close to the cylindrical kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the cooking kitchenpot with side grips",
+    "Pick the sauce can with sealed top and position it next to the gray kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Lift the cylindrical sauce can and move it near the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the medium-sized kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the smooth gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the round kitchenpot with handles",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the metal kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the cylindrical kitchenpot",
+    "Lift the sauce can using the left arm and position it by the gray kitchenpot",
+    "Move the round sauce can with yellow pattern to be next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the round kitchenpot with handles",
+    "Pick the round sauce can with yellow pattern up and move it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the plastic lid sauce can and place it near the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Move the yellow brown sauce can to the medium kitchenpot made of metal with the left arm",
+    "Move the round sauce can with yellow pattern from its spot to near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the cylindrical kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Pick up the cylindrical sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can, place it by the kitchenpot for boiling and cooking",
+    "Take the plastic lid sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can and set it next to the cooking kitchenpot with side grips",
+    "Set the white plastic lid sauce can right next to the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the cylindrical kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the metal kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the cylindrical kitchenpot",
+    "Grab the sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Move the medium sauce can with white lid beside the smooth gray kitchenpot after lifting it"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the cylindrical sauce can and place it near the gray kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Move the sauce can with sealed top to be next to the cylindrical kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the cooking kitchenpot with side grips",
+    "Pick up the sauce can with glossy finish and put it beside the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, place it by the kitchenpot with smooth exterior",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the medium-sized kitchenpot",
+    "Move the plastic lid sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Place the hand-sized sauce can next to the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can and place it next to the dark gray stove kitchenpot",
+    "Move the cylindrical sauce can beside the medium-sized kitchenpot after lifting it",
+    "Use the left arm to pick the sauce can up and set it beside the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the kitchenpot with smooth exterior",
+    "Use the left arm to move the sauce can with glossy finish beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the medium-sized kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Pick the sauce can and position it next to the cooking kitchenpot with side grips",
+    "Pick up the yellow brown sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the metal kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Pick the sauce can up and move it next to the round kitchenpot with handles",
+    "Set the white plastic lid sauce can right next to the gray kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern, move it, and place by the metal kitchenpot",
+    "Take the plastic lid sauce can using the left arm, set it next to the metal kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can and move it close to the metal kitchenpot",
+    "Grab the sauce can with sealed top, move it to the kitchenpot for boiling and cooking's side",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Place the medium sauce can with white lid beside the round kitchenpot with handles after picking it up",
+    "Lift the brown and yellow cylindrical sauce can and move it near the metal kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the metal kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the gray kitchenpot",
+    "With the left arm, grab the sauce can with sealed top and move to the gray cylindrical metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Lift the cylindrical sauce can, then place it next to the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and position it beside the medium-sized kitchenpot",
+    "Using the left arm, lift the sauce can with sealed top and place it by the medium-sized kitchenpot",
+    "Set the hand-sized sauce can near the gray kitchenpot after picking it up",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the metal kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Bring the sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can and set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can and place it near the dark gray stove kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top to be next to the gray kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the round kitchenpot with handles",
+    "Pick up the round sauce can with yellow pattern and put it beside the metal kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the round kitchenpot with handles",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the gray kitchenpot",
+    "Move the yellow brown sauce can to the cylindrical kitchenpot with the left arm",
+    "Place the medium sauce can with white lid next to the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can and place it next to the medium-sized kitchenpot",
+    "Move the round sauce can with yellow pattern beside the cooking kitchenpot with side grips after lifting it",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can and set it beside the smooth gray kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the cylindrical kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Pick the sauce can up with the left arm then place near the metal kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the kitchenpot with smooth exterior",
+    "Pick up the cylindrical sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Set the cylindrical sauce can right next to the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the cylindrical kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the medium kitchenpot made of metal",
+    "Grab the sauce can with sealed top, move it to the kitchenpot with smooth exterior's side",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the round kitchenpot with handles",
+    "Place the white plastic lid sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Lift the sauce can and move it near the cylindrical kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the dark gray stove kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the medium-sized kitchenpot",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the medium-sized kitchenpot",
+    "Take the hand-sized sauce can to the round kitchenpot with handles using the left arm",
+    "Lift the sauce can with glossy finish, then place it next to the dark gray stove kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the medium-sized kitchenpot",
+    "Set the hand-sized sauce can near the gray cylindrical metal kitchenpot after picking it up",
+    "Take the white plastic lid sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the metal kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the round kitchenpot with handles",
+    "Lift the sauce can with sealed top and set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the medium-sized kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the brown and yellow cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the cylindrical kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the medium-sized kitchenpot",
+    "Pick the sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Pick up the cylindrical sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the smooth gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the dark gray stove kitchenpot using the left arm",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Pick the white plastic lid sauce can up and carefully position it beside the metal kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the cylindrical kitchenpot",
+    "Take the sauce can with sealed top with the left arm, place it near the smooth gray kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish and move it near the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the medium-sized kitchenpot",
+    "Set the plastic lid sauce can right next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the dark gray stove kitchenpot",
+    "Move the sauce can from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the cylindrical kitchenpot",
+    "Place the yellow brown sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Lift the yellow brown sauce can using the left arm and position it by the gray kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish and set it next to the cylindrical kitchenpot",
+    "Grab the sauce can, move it to the metal kitchenpot's side",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the kitchenpot with smooth exterior",
+    "Place the rounded-edge sauce can next to the metal kitchenpot",
+    "Move the yellow brown sauce can to the smooth gray kitchenpot with the left arm",
+    "Pick the round sauce can with yellow pattern and position it next to the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Pick the rounded-edge sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Set the plastic lid sauce can near the metal kitchenpot after picking it up",
+    "With the left arm, grab the medium sauce can with white lid and move to the round kitchenpot with handles",
+    "Move the sauce can with glossy finish to be next to the kitchenpot with smooth exterior",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Move the white plastic lid sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Lift the yellow brown sauce can and place it next to the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the round kitchenpot with handles",
+    "Pick up the white plastic lid sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to move the cylindrical sauce can beside the kitchenpot with smooth exterior",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Pick up the hand-sized sauce can and put it beside the gray kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish and set it next to the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the round kitchenpot with handles",
+    "Take the white plastic lid sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Grab the hand-sized sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Pick the white plastic lid sauce can up and carefully position it beside the gray kitchenpot",
+    "Bring the white plastic lid sauce can over and set it near the round kitchenpot with handles",
+    "Take the white plastic lid sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Pick the white plastic lid sauce can up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to take the yellow brown sauce can to the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can and move it near the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can, place it by the medium kitchenpot made of metal",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top and move it close to the round kitchenpot with handles",
+    "Set the cylindrical sauce can right next to the metal kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Move the sauce can with glossy finish from its spot to near the cylindrical kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the metal kitchenpot",
+    "Place the white plastic lid sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top and set it next to the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the smooth gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the cooking kitchenpot with side grips",
+    "Place the white plastic lid sauce can next to the medium-sized kitchenpot",
+    "Move the medium sauce can with white lid to the kitchenpot with smooth exterior with the left arm",
+    "Pick the cylindrical sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Take the plastic lid sauce can using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can, move it, and place by the round kitchenpot with handles",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Pick the rounded-edge sauce can up with the left arm then place near the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the smooth gray kitchenpot",
+    "Set the sauce can with sealed top near the gray cylindrical metal kitchenpot after picking it up",
+    "With the left arm, grab the sauce can with glossy finish and move to the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the cooking kitchenpot with side grips",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Grab the sauce can with the left arm and set it near the gray kitchenpot",
+    "Move the sauce can with sealed top beside the gray cylindrical metal kitchenpot after lifting it"
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the smooth gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top and set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the medium-sized kitchenpot",
+    "Grab the sauce can with glossy finish, move it to the gray kitchenpot's side",
+    "Set the hand-sized sauce can right next to the gray kitchenpot",
+    "Grab the white plastic lid sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Take the medium sauce can with white lid to the dark gray stove kitchenpot using the left arm",
+    "Place the yellow brown sauce can next to the smooth gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid, place it by the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern, then place it next to the gray cylindrical metal kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the dark gray stove kitchenpot",
+    "Set the white plastic lid sauce can near the round kitchenpot with handles after picking it up",
+    "Move the white plastic lid sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the dark gray stove kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the smooth gray kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with glossy finish with the left arm and set it near the smooth gray kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the round kitchenpot with handles",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Lift the sauce can with sealed top using the left arm and position it by the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Use the left arm to pick the sauce can, position it near the medium kitchenpot made of metal",
+    "Grab the sauce can and move it close to the kitchenpot with smooth exterior",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Pick up the sauce can with sealed top with the left arm and set by the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish and move it near the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top beside the kitchenpot with smooth exterior after lifting it",
+    "Use the left arm to take the cylindrical sauce can to the dark gray stove kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the cooking kitchenpot with side grips",
+    "Pick up the hand-sized sauce can and put it beside the metal kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the dark gray stove kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Move the brown and yellow cylindrical sauce can to be next to the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can and set it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Grab the yellow brown sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Set the brown and yellow cylindrical sauce can right next to the gray kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Take the rounded-edge sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Take the sauce can with glossy finish to the dark gray stove kitchenpot using the left arm",
+    "Place the yellow brown sauce can next to the metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the medium kitchenpot made of metal",
+    "Lift the sauce can, place it by the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish up with the left arm then place near the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the metal kitchenpot",
+    "Set the round sauce can with yellow pattern near the kitchenpot for boiling and cooking after picking it up",
+    "Move the plastic lid sauce can to the medium kitchenpot made of metal with the left arm",
+    "Pick the sauce can and position it next to the medium kitchenpot made of metal",
+    "Place the brown and yellow cylindrical sauce can beside the round kitchenpot with handles after picking it up",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the smooth gray kitchenpot",
+    "Bring the cylindrical sauce can over and set it near the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the metal kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and set it near the smooth gray kitchenpot",
+    "Grab the hand-sized sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Pick the sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Take the white plastic lid sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the gray kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the medium-sized kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Move the round sauce can with yellow pattern from its spot to near the metal kitchenpot",
+    "Pick up the sauce can with sealed top with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the kitchenpot with smooth exterior",
+    "Move the rounded-edge sauce can beside the gray kitchenpot after lifting it",
+    "Use the left arm to take the round sauce can with yellow pattern to the round kitchenpot with handles",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the smooth gray kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the dark gray stove kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the medium-sized kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and set it beside the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the sauce can with sealed top using the left arm and position it by the metal kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the cooking kitchenpot with side grips",
+    "Pick the sauce can with sealed top up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can, place it by the medium-sized kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the round kitchenpot with handles's side",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the smooth gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the smooth gray kitchenpot",
+    "Move the plastic lid sauce can to the medium-sized kitchenpot with the left arm",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the dark gray stove kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can and move it close to the gray kitchenpot",
+    "Place the medium sauce can with white lid beside the medium-sized kitchenpot after picking it up",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Lift the sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the medium kitchenpot made of metal",
+    "Move the yellow brown sauce can from its spot to near the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Lift the yellow brown sauce can and move it near the cooking kitchenpot with side grips",
+    "Take the sauce can with glossy finish using the left arm, set it next to the metal kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the gray kitchenpot",
+    "Set the sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Lift the hand-sized sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the medium kitchenpot made of metal",
+    "Pick up the hand-sized sauce can and put it beside the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the dark gray stove kitchenpot",
+    "Move the plastic lid sauce can to be next to the smooth gray kitchenpot",
+    "Bring the round sauce can with yellow pattern over and set it near the medium kitchenpot made of metal",
+    "Place the rounded-edge sauce can next to the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and place it next to the medium-sized kitchenpot",
+    "Pick the sauce can up with the left arm then place near the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern, move it, and place by the round kitchenpot with handles",
+    "Grab the sauce can with sealed top with the left arm and move it close to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the medium kitchenpot made of metal",
+    "Use the left arm to move the yellow brown sauce can beside the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can beside the gray kitchenpot after lifting it",
+    "Grab the sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Set the brown and yellow cylindrical sauce can right next to the cooking kitchenpot with side grips",
+    "Take the yellow brown sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Using the left arm, lift the plastic lid sauce can and place it by the smooth gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the cooking kitchenpot with side grips",
+    "Pick up the medium sauce can with white lid with the left arm and set by the metal kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Pick the rounded-edge sauce can up and move it next to the dark gray stove kitchenpot",
+    "Pick the sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the round kitchenpot with handles",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the medium kitchenpot made of metal's side",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Pick the yellow brown sauce can and position it next to the round kitchenpot with handles",
+    "Use the left arm to pick the sauce can with sealed top, position it near the medium-sized kitchenpot",
+    "Move the cylindrical sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the dark gray stove kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the smooth gray kitchenpot",
+    "Place the plastic lid sauce can beside the round kitchenpot with handles after picking it up",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the cooking kitchenpot with side grips",
+    "Move the hand-sized sauce can from its spot to near the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Take the sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the kitchenpot with smooth exterior",
+    "Set the yellow brown sauce can near the medium-sized kitchenpot after picking it up",
+    "Lift the medium sauce can with white lid and set it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the cylindrical kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the round kitchenpot with handles",
+    "Lift the sauce can and set it next to the metal kitchenpot",
+    "Move the hand-sized sauce can to be next to the cooking kitchenpot with side grips",
+    "Bring the rounded-edge sauce can over and set it near the cylindrical kitchenpot",
+    "Place the cylindrical sauce can next to the metal kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the dark gray stove kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Grab the cylindrical sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Use the left arm to move the yellow brown sauce can beside the medium kitchenpot made of metal",
+    "Move the hand-sized sauce can beside the cylindrical kitchenpot after lifting it",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Set the medium sauce can with white lid right next to the kitchenpot for boiling and cooking",
+    "Take the sauce can with glossy finish to the kitchenpot for boiling and cooking using the left arm",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the medium-sized kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the gray kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the smooth gray kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the gray kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid, then place it next to the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Take the white plastic lid sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish, place it by the dark gray stove kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the gray kitchenpot",
+    "Set the cylindrical sauce can near the cylindrical kitchenpot after picking it up",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Pick the plastic lid sauce can and position it next to the cooking kitchenpot with side grips",
+    "Use the left arm to move the plastic lid sauce can beside the kitchenpot with smooth exterior",
+    "Pick the medium sauce can with white lid up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it near the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern, move it, and place by the cooking kitchenpot with side grips",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the medium-sized kitchenpot",
+    "Take the rounded-edge sauce can to the medium-sized kitchenpot using the left arm",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Move the white plastic lid sauce can to the cylindrical kitchenpot with the left arm",
+    "Move the rounded-edge sauce can to be next to the kitchenpot with smooth exterior",
+    "Bring the plastic lid sauce can over and set it near the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and set it next to the gray kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the medium-sized kitchenpot",
+    "Lift the sauce can and place it next to the kitchenpot with smooth exterior",
+    "Place the rounded-edge sauce can next to the medium-sized kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the cooking kitchenpot with side grips",
+    "Place the yellow brown sauce can beside the smooth gray kitchenpot after picking it up",
+    "Move the brown and yellow cylindrical sauce can beside the dark gray stove kitchenpot after lifting it",
+    "With the left arm, grab the hand-sized sauce can and move to the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the medium kitchenpot made of metal's side",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the smooth gray kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the smooth gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the cooking kitchenpot with side grips",
+    "Pick up the yellow brown sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Pick the plastic lid sauce can up and carefully position it beside the metal kitchenpot",
+    "Set the yellow brown sauce can right next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the round kitchenpot with handles",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the dark gray stove kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the gray cylindrical metal kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the smooth gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the medium kitchenpot made of metal",
+    "Lift the sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can, place it by the medium kitchenpot made of metal",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the medium-sized kitchenpot",
+    "Set the sauce can with sealed top near the gray cylindrical metal kitchenpot after picking it up",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Pick the sauce can with sealed top and position it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the rounded-edge sauce can beside the kitchenpot for boiling and cooking",
+    "Pick the sauce can with sealed top up and move it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it near the cooking kitchenpot with side grips",
+    "Grab the rounded-edge sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the dark gray stove kitchenpot",
+    "Take the sauce can with glossy finish to the cooking kitchenpot with side grips using the left arm",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Take the sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Move the sauce can to the kitchenpot for boiling and cooking with the left arm",
+    "Move the medium sauce can with white lid to be next to the smooth gray kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the medium kitchenpot made of metal",
+    "Move the white plastic lid sauce can from its spot to near the metal kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the metal kitchenpot",
+    "Lift the plastic lid sauce can and move it near the kitchenpot for boiling and cooking",
+    "Lift the sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Place the sauce can with glossy finish next to the metal kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the medium-sized kitchenpot",
+    "Place the medium sauce can with white lid beside the kitchenpot for boiling and cooking after picking it up",
+    "Move the brown and yellow cylindrical sauce can beside the round kitchenpot with handles after lifting it",
+    "With the left arm, grab the white plastic lid sauce can and move to the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can, move it to the medium-sized kitchenpot's side",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the metal kitchenpot",
+    "Use the left arm to take the round sauce can with yellow pattern to the medium-sized kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and set it beside the metal kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the metal kitchenpot",
+    "Set the cylindrical sauce can right next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the kitchenpot for boiling and cooking"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the cylindrical sauce can and move it beside the cylindrical kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top, place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the medium kitchenpot made of metal",
+    "Grab the white plastic lid sauce can with the left arm and set it near the medium-sized kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Lift the plastic lid sauce can, then place it next to the round kitchenpot with handles",
+    "Lift the sauce can with sealed top and move it near the kitchenpot with smooth exterior",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can and place it next to the gray kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the medium-sized kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the medium kitchenpot made of metal with the left arm",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the smooth gray kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the round kitchenpot with handles",
+    "Move the cylindrical sauce can to be next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the smooth gray kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid up with the left arm then place near the metal kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the medium kitchenpot made of metal",
+    "Pick up the sauce can with glossy finish and put it beside the metal kitchenpot",
+    "Place the sauce can with sealed top next to the gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Place the yellow brown sauce can beside the gray kitchenpot after picking it up",
+    "With the left arm, grab the cylindrical sauce can and move to the cylindrical kitchenpot",
+    "Use the left arm to take the sauce can to the dark gray stove kitchenpot",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the medium-sized kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the cylindrical kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Set the round sauce can with yellow pattern right next to the cylindrical kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Set the plastic lid sauce can near the cylindrical kitchenpot after picking it up",
+    "Grab the round sauce can with yellow pattern, move it, and place by the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid, move it to the kitchenpot with smooth exterior's side",
+    "Take the sauce can with sealed top with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the cooking kitchenpot with side grips",
+    "Pick the cylindrical sauce can up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the kitchenpot with smooth exterior",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the round kitchenpot with handles",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the gray kitchenpot",
+    "Lift the sauce can and set it next to the medium-sized kitchenpot",
+    "Grab the sauce can with the left arm and set it near the metal kitchenpot",
+    "Pick up the rounded-edge sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and position it by the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish and move it near the gray kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the round kitchenpot with handles",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it beside the medium kitchenpot made of metal",
+    "Move the round sauce can with yellow pattern to the kitchenpot with smooth exterior with the left arm",
+    "Use the left arm to pick the yellow brown sauce can, position it near the medium-sized kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the metal kitchenpot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the round kitchenpot with handles",
+    "Use the left arm to move the yellow brown sauce can beside the cooking kitchenpot with side grips",
+    "Lift the sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Move the cylindrical sauce can to be next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the smooth gray kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the kitchenpot with smooth exterior",
+    "Pick the medium sauce can with white lid and position it next to the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the medium-sized kitchenpot",
+    "Move the sauce can from its spot to near the metal kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the gray kitchenpot",
+    "Place the sauce can next to the kitchenpot for boiling and cooking",
+    "Take the sauce can with sealed top to the dark gray stove kitchenpot using the left arm",
+    "Grab the yellow brown sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Place the sauce can with sealed top beside the kitchenpot for boiling and cooking after picking it up",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the cylindrical kitchenpot",
+    "Use the left arm to take the hand-sized sauce can to the gray cylindrical metal kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the gray kitchenpot",
+    "Grab the round sauce can with yellow pattern and move it close to the round kitchenpot with handles",
+    "Pick the plastic lid sauce can up and carefully position it beside the cylindrical kitchenpot",
+    "Move the sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Set the medium sauce can with white lid right next to the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the gray kitchenpot",
+    "Set the sauce can with glossy finish near the dark gray stove kitchenpot after picking it up",
+    "Grab the hand-sized sauce can, move it, and place by the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Take the sauce can with sealed top with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern and place it next to the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can up and move it next to the metal kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Take the sauce can with sealed top using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can, move it to the smooth gray kitchenpot's side",
+    "Move the plastic lid sauce can from its spot to near the gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the medium-sized kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the medium kitchenpot made of metal",
+    "Use the left arm to take the round sauce can with yellow pattern to the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the gray kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the metal kitchenpot",
+    "Pick up the sauce can with sealed top and put it beside the medium kitchenpot made of metal",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the cylindrical kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the round kitchenpot with handles",
+    "Place the cylindrical sauce can next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, shift it, and place it close to the medium kitchenpot made of metal",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the cylindrical kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the medium kitchenpot made of metal",
+    "Pick the sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it near the metal kitchenpot",
+    "Set the cylindrical sauce can right next to the medium-sized kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the cylindrical kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can and set it beside the cylindrical kitchenpot",
+    "Move the yellow brown sauce can to be next to the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the smooth gray kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the medium-sized kitchenpot",
+    "Move the sauce can with glossy finish beside the kitchenpot with smooth exterior after lifting it",
+    "Grab the rounded-edge sauce can, move it, and place by the round kitchenpot with handles",
+    "Lift the hand-sized sauce can, place it by the dark gray stove kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the medium kitchenpot made of metal",
+    "Pick up the sauce can with sealed top with the left arm and set by the kitchenpot for boiling and cooking",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Take the medium sauce can with white lid to the gray cylindrical metal kitchenpot using the left arm",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the cooking kitchenpot with side grips",
+    "Place the brown and yellow cylindrical sauce can beside the gray kitchenpot after picking it up",
+    "With the left arm, grab the rounded-edge sauce can and move to the medium-sized kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Set the hand-sized sauce can near the metal kitchenpot after picking it up",
+    "Move the cylindrical sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Take the white plastic lid sauce can using the left arm, set it next to the metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the metal kitchenpot",
+    "Grab the cylindrical sauce can, move it to the metal kitchenpot's side",
+    "Move the sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the medium kitchenpot made of metal",
+    "Use the left arm to move the white plastic lid sauce can beside the medium kitchenpot made of metal",
+    "Use the left arm to take the sauce can to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the gray cylindrical metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the medium-sized kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the gray kitchenpot",
+    "Bring the sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Place the rounded-edge sauce can next to the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the cylindrical kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the kitchenpot with smooth exterior",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and move it near the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the metal kitchenpot",
+    "Set the sauce can right next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the medium kitchenpot made of metal",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the smooth gray kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the metal kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the smooth gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the gray cylindrical metal kitchenpot",
+    "Move the sauce can with sealed top beside the gray cylindrical metal kitchenpot after lifting it",
+    "Grab the sauce can, move it, and place by the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can, place it by the cooking kitchenpot with side grips",
+    "Take the sauce can with sealed top with the left arm, place it near the medium kitchenpot made of metal",
+    "Pick up the sauce can with sealed top with the left arm and set by the kitchenpot for boiling and cooking",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the metal kitchenpot",
+    "Place the yellow brown sauce can beside the metal kitchenpot after picking it up",
+    "With the left arm, grab the cylindrical sauce can and move to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Set the sauce can near the kitchenpot for boiling and cooking after picking it up"
+  ],
+  "unseen": [
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Pick up the plastic lid sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Place the sauce can with glossy finish next to the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern and position it next to the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can up and carefully position it beside the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Move the cylindrical sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the dark gray stove kitchenpot",
+    "Set the hand-sized sauce can near the round kitchenpot with handles after picking it up",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can, place it by the gray kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the kitchenpot with smooth exterior",
+    "Set the brown and yellow cylindrical sauce can right next to the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the round kitchenpot with handles",
+    "Grab the plastic lid sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Take the plastic lid sauce can to the smooth gray kitchenpot using the left arm",
+    "Pick the sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the medium kitchenpot made of metal",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Lift the cylindrical sauce can using the left arm and position it by the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the cylindrical kitchenpot with the left arm",
+    "Grab the medium sauce can with white lid and move it close to the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it beside the round kitchenpot with handles",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the cylindrical kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the metal kitchenpot",
+    "Grab the sauce can, move it to the gray kitchenpot's side",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the medium kitchenpot made of metal",
+    "With the left arm, grab the hand-sized sauce can and move to the kitchenpot for boiling and cooking",
+    "Pick the rounded-edge sauce can up and move it next to the smooth gray kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the round kitchenpot with handles",
+    "Pick up the sauce can with glossy finish and put it beside the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the cylindrical kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can and move it near the kitchenpot with smooth exterior",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the gray kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the cooking kitchenpot with side grips",
+    "Move the yellow brown sauce can beside the smooth gray kitchenpot after lifting it",
+    "Place the rounded-edge sauce can beside the metal kitchenpot after picking it up",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the gray cylindrical metal kitchenpot",
+    "Lift the sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Pick up the plastic lid sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Place the sauce can with sealed top next to the kitchenpot for boiling and cooking",
+    "Pick the cylindrical sauce can and position it next to the cooking kitchenpot with side grips",
+    "Pick the yellow brown sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and place it next to the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Move the rounded-edge sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the kitchenpot for boiling and cooking",
+    "Set the hand-sized sauce can near the round kitchenpot with handles after picking it up",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish, place it by the medium-sized kitchenpot",
+    "Use the left arm to take the sauce can to the medium kitchenpot made of metal",
+    "Set the sauce can right next to the round kitchenpot with handles",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the round kitchenpot with handles",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Take the sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Pick the sauce can with sealed top up with the left arm then place near the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Take the sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Move the plastic lid sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Grab the white plastic lid sauce can and move it close to the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid and set it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the plastic lid sauce can, position it near the gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can, move it to the medium kitchenpot made of metal's side",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the cylindrical kitchenpot",
+    "With the left arm, grab the rounded-edge sauce can and move to the round kitchenpot with handles",
+    "Pick the white plastic lid sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to move the yellow brown sauce can beside the medium kitchenpot made of metal",
+    "Pick up the hand-sized sauce can and put it beside the round kitchenpot with handles",
+    "Grab the sauce can with sealed top, move it, and place by the smooth gray kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can and move it near the metal kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the gray kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top beside the dark gray stove kitchenpot after lifting it",
+    "Place the medium sauce can with white lid beside the kitchenpot for boiling and cooking after picking it up"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode20.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the rounded-edge sauce can and put it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the metal kitchenpot",
+    "Move the sauce can with glossy finish to be next to the gray kitchenpot",
+    "Place the cylindrical sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Lift the white plastic lid sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "With the left arm, grab the sauce can and move to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the round kitchenpot with handles",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the smooth gray kitchenpot",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Lift the medium sauce can with white lid and place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top with the left arm and move it close to the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Use the left arm to take the round sauce can with yellow pattern to the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid beside the cooking kitchenpot with side grips after lifting it",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can and place it near the medium-sized kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the smooth gray kitchenpot",
+    "Set the rounded-edge sauce can right next to the round kitchenpot with handles",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the metal kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish up and move it next to the metal kitchenpot",
+    "Place the sauce can next to the medium-sized kitchenpot",
+    "Take the medium sauce can with white lid using the left arm, set it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the metal kitchenpot",
+    "Bring the cylindrical sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Move the cylindrical sauce can to the medium-sized kitchenpot with the left arm",
+    "Take the sauce can with sealed top with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Pick the sauce can with sealed top and position it next to the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top, move it to the cooking kitchenpot with side grips's side",
+    "Lift the round sauce can with yellow pattern and set it next to the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can and set it next to the kitchenpot with smooth exterior",
+    "Take the plastic lid sauce can to the medium kitchenpot made of metal using the left arm",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top from its spot to near the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the gray cylindrical metal kitchenpot",
+    "Set the round sauce can with yellow pattern near the dark gray stove kitchenpot after picking it up",
+    "Lift the hand-sized sauce can and set it beside the medium-sized kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and set it near the cooking kitchenpot with side grips",
+    "Pick up the rounded-edge sauce can and put it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the medium kitchenpot made of metal",
+    "Move the plastic lid sauce can to be next to the cylindrical kitchenpot",
+    "Place the yellow brown sauce can beside the round kitchenpot with handles after picking it up",
+    "Lift the white plastic lid sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the metal kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the cylindrical kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can and move it close to the gray kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Pick the plastic lid sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the kitchenpot for boiling and cooking",
+    "Move the plastic lid sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the cylindrical kitchenpot",
+    "Set the sauce can with glossy finish right next to the dark gray stove kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Using the left arm, lift the cylindrical sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the kitchenpot for boiling and cooking",
+    "Pick up the rounded-edge sauce can with the left arm and set by the gray kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the cooking kitchenpot with side grips",
+    "Pick the cylindrical sauce can up and move it next to the medium-sized kitchenpot",
+    "Place the sauce can with sealed top next to the cylindrical kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the gray kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the dark gray stove kitchenpot",
+    "Move the plastic lid sauce can to the smooth gray kitchenpot with the left arm",
+    "Take the medium sauce can with white lid with the left arm, place it near the smooth gray kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can, move it to the metal kitchenpot's side",
+    "Lift the sauce can and set it next to the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Take the medium sauce can with white lid to the medium-sized kitchenpot using the left arm",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern, move it, and place by the kitchenpot with smooth exterior",
+    "Set the medium sauce can with white lid near the kitchenpot for boiling and cooking after picking it up",
+    "Lift the rounded-edge sauce can and set it beside the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and set it near the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode21.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can and move it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with sealed top and place it near the cylindrical kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Set the hand-sized sauce can right next to the dark gray stove kitchenpot",
+    "Move the yellow brown sauce can to be next to the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with glossy finish and put it beside the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the medium-sized kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the cylindrical kitchenpot",
+    "Take the round sauce can with yellow pattern to the kitchenpot for boiling and cooking using the left arm",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can and set it next to the medium-sized kitchenpot",
+    "Move the medium sauce can with white lid beside the smooth gray kitchenpot after lifting it",
+    "Lift the plastic lid sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the medium kitchenpot made of metal",
+    "Lift the sauce can, then place it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the kitchenpot with smooth exterior",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the gray kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the gray kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the metal kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the cooking kitchenpot with side grips",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the kitchenpot with smooth exterior",
+    "With the left arm, grab the rounded-edge sauce can and move to the round kitchenpot with handles",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the medium-sized kitchenpot",
+    "Pick the sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the cylindrical kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the kitchenpot with smooth exterior",
+    "Set the rounded-edge sauce can near the gray kitchenpot after picking it up",
+    "Lift the round sauce can with yellow pattern, place it by the medium kitchenpot made of metal",
+    "Use the left arm to take the rounded-edge sauce can to the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the gray kitchenpot",
+    "Grab the sauce can with sealed top and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can with sealed top, position it near the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and set it beside the cooking kitchenpot with side grips",
+    "Move the round sauce can with yellow pattern from its spot to near the cylindrical kitchenpot",
+    "Place the round sauce can with yellow pattern beside the dark gray stove kitchenpot after picking it up",
+    "Pick the white plastic lid sauce can and position it next to the medium kitchenpot made of metal",
+    "Move the yellow brown sauce can to the gray kitchenpot with the left arm",
+    "Place the rounded-edge sauce can next to the smooth gray kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Pick the sauce can up and carefully position it beside the gray kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the round kitchenpot with handles",
+    "Grab the cylindrical sauce can, move it to the round kitchenpot with handles's side",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the gray kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can and move it near the round kitchenpot with handles",
+    "Use the left arm to lift the plastic lid sauce can and place it near the round kitchenpot with handles",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Set the yellow brown sauce can right next to the gray cylindrical metal kitchenpot",
+    "Move the yellow brown sauce can to be next to the medium-sized kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the medium-sized kitchenpot",
+    "Take the plastic lid sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Bring the round sauce can with yellow pattern over and set it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish, move it, and place by the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot with smooth exterior",
+    "Move the white plastic lid sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the gray kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the smooth gray kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the round kitchenpot with handles",
+    "Grab the sauce can with sealed top with the left arm and set it near the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the smooth gray kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the medium kitchenpot made of metal",
+    "With the left arm, grab the sauce can with sealed top and move to the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the round kitchenpot with handles",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the dark gray stove kitchenpot",
+    "Set the plastic lid sauce can near the metal kitchenpot after picking it up",
+    "Lift the sauce can with sealed top, place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to take the sauce can to the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern and move it close to the round kitchenpot with handles",
+    "Use the left arm to pick the sauce can, position it near the gray kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the cylindrical kitchenpot",
+    "Move the sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Place the sauce can beside the smooth gray kitchenpot after picking it up",
+    "Pick the sauce can with glossy finish and position it next to the round kitchenpot with handles",
+    "Move the yellow brown sauce can to the cylindrical kitchenpot with the left arm",
+    "Place the brown and yellow cylindrical sauce can next to the gray kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the gray kitchenpot",
+    "Grab the cylindrical sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the dark gray stove kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode22.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the brown and yellow cylindrical sauce can to the smooth gray kitchenpot with the left arm",
+    "Use the left arm to lift the sauce can, then move it next to the cylindrical kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Place the yellow brown sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Lift the hand-sized sauce can, then place it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the medium kitchenpot made of metal",
+    "Set the round sauce can with yellow pattern near the kitchenpot with smooth exterior after picking it up",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the medium-sized kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the round kitchenpot with handles",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the medium kitchenpot made of metal",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the metal kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Pick the medium sauce can with white lid and position it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can and set it next to the round kitchenpot with handles",
+    "Move the plastic lid sauce can from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the cooking kitchenpot with side grips",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the kitchenpot with smooth exterior",
+    "Take the sauce can with sealed top with the left arm, place it near the round kitchenpot with handles",
+    "Use the left arm to take the medium sauce can with white lid to the medium-sized kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the cylindrical kitchenpot",
+    "Grab the sauce can with sealed top, move it to the gray cylindrical metal kitchenpot's side",
+    "With the left arm, grab the sauce can and move to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish up with the left arm then place near the round kitchenpot with handles",
+    "Place the medium sauce can with white lid next to the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can to the gray kitchenpot using the left arm",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the medium-sized kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the gray kitchenpot",
+    "Lift the yellow brown sauce can, place it by the kitchenpot for boiling and cooking",
+    "Set the medium sauce can with white lid right next to the dark gray stove kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the gray kitchenpot after lifting it",
+    "Lift the cylindrical sauce can using the left arm and position it by the gray kitchenpot",
+    "Lift the sauce can and place it next to the gray kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the medium kitchenpot made of metal",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Grab the yellow brown sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the metal kitchenpot",
+    "Move the plastic lid sauce can to be next to the cooking kitchenpot with side grips",
+    "Move the round sauce can with yellow pattern to the cylindrical kitchenpot with the left arm",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the cylindrical kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Place the medium sauce can with white lid beside the dark gray stove kitchenpot after picking it up",
+    "Lift the round sauce can with yellow pattern, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the cooking kitchenpot with side grips",
+    "Set the plastic lid sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Pick up the hand-sized sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Grab the plastic lid sauce can, move it, and place by the cylindrical kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the dark gray stove kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the smooth gray kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the metal kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the cylindrical kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the kitchenpot with smooth exterior",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the smooth gray kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the cylindrical kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the round kitchenpot with handles",
+    "Pick the white plastic lid sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Take the sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Use the left arm to take the hand-sized sauce can to the cylindrical kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the cylindrical kitchenpot",
+    "Grab the sauce can with sealed top, move it to the medium kitchenpot made of metal's side",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the cooking kitchenpot with side grips",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the smooth gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Place the sauce can next to the gray kitchenpot",
+    "Take the sauce can to the cylindrical kitchenpot using the left arm",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the medium-sized kitchenpot",
+    "Set the hand-sized sauce can right next to the gray kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid beside the cooking kitchenpot with side grips after lifting it",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and place it next to the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top and move it near the round kitchenpot with handles",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the gray kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the gray kitchenpot",
+    "Move the plastic lid sauce can to be next to the gray cylindrical metal kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode23.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can and move it next to the smooth gray kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern and place it next to the medium-sized kitchenpot",
+    "Take the cylindrical sauce can to the dark gray stove kitchenpot using the left arm",
+    "Take the hand-sized sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Grab the plastic lid sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Take the hand-sized sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the medium kitchenpot made of metal",
+    "Place the white plastic lid sauce can beside the smooth gray kitchenpot after picking it up",
+    "Use the left arm to pick the sauce can up and set it beside the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the medium kitchenpot made of metal",
+    "Lift the hand-sized sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the medium kitchenpot made of metal",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can and set it next to the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the cylindrical kitchenpot",
+    "Bring the round sauce can with yellow pattern over and set it near the kitchenpot with smooth exterior",
+    "Pick the sauce can and position it next to the round kitchenpot with handles",
+    "Pick the sauce can with sealed top up and move it next to the medium kitchenpot made of metal",
+    "Move the plastic lid sauce can to the dark gray stove kitchenpot with the left arm",
+    "Move the white plastic lid sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and set it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the metal kitchenpot",
+    "Move the sauce can with sealed top to be next to the medium-sized kitchenpot",
+    "Pick the sauce can with sealed top up and carefully position it beside the gray kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the metal kitchenpot",
+    "Move the plastic lid sauce can beside the medium-sized kitchenpot after lifting it",
+    "Place the sauce can with glossy finish next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the medium kitchenpot made of metal",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it beside the gray kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can, move it to the gray kitchenpot's side",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the medium-sized kitchenpot",
+    "Set the cylindrical sauce can right next to the metal kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Set the hand-sized sauce can near the dark gray stove kitchenpot after picking it up",
+    "Grab the yellow brown sauce can, move it, and place by the smooth gray kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the metal kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the cylindrical kitchenpot",
+    "Pick up the hand-sized sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the cooking kitchenpot with side grips",
+    "Take the medium sauce can with white lid to the round kitchenpot with handles using the left arm",
+    "Take the white plastic lid sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid and move it close to the dark gray stove kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, place it near the gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the cooking kitchenpot with side grips",
+    "Place the brown and yellow cylindrical sauce can beside the medium-sized kitchenpot after picking it up",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the dark gray stove kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the dark gray stove kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the yellow brown sauce can, position it near the metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the dark gray stove kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the cooking kitchenpot with side grips",
+    "Pick the round sauce can with yellow pattern and position it next to the medium-sized kitchenpot",
+    "Pick the hand-sized sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Move the medium sauce can with white lid to the medium-sized kitchenpot with the left arm",
+    "Move the sauce can with sealed top from its spot to near the kitchenpot for boiling and cooking",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the medium-sized kitchenpot",
+    "Grab the sauce can with the left arm and set it near the medium-sized kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the medium-sized kitchenpot",
+    "Move the cylindrical sauce can to be next to the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the gray kitchenpot",
+    "Lift the sauce can with sealed top, place it by the medium-sized kitchenpot",
+    "Move the sauce can beside the metal kitchenpot after lifting it",
+    "Place the sauce can with sealed top next to the medium-sized kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the kitchenpot for boiling and cooking",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can, move it to the metal kitchenpot's side",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the gray cylindrical metal kitchenpot",
+    "Set the sauce can right next to the gray kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Set the round sauce can with yellow pattern near the kitchenpot for boiling and cooking after picking it up",
+    "Grab the sauce can with sealed top, move it, and place by the metal kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the dark gray stove kitchenpot"
+  ],
+  "unseen": [
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode24.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the brown and yellow cylindrical sauce can and set it beside the smooth gray kitchenpot",
+    "Place the hand-sized sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Pick the round sauce can with yellow pattern up and move it next to the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and move it near the gray kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the gray kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the medium kitchenpot made of metal",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Set the hand-sized sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Lift the sauce can with sealed top, place it by the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the hand-sized sauce can and place it by the round kitchenpot with handles",
+    "Grab the cylindrical sauce can with the left arm and position it beside the metal kitchenpot",
+    "Use the left arm to take the yellow brown sauce can to the medium kitchenpot made of metal",
+    "Pick the sauce can with glossy finish up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the gray kitchenpot",
+    "Take the round sauce can with yellow pattern to the round kitchenpot with handles using the left arm",
+    "Move the white plastic lid sauce can to be next to the round kitchenpot with handles",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the kitchenpot for boiling and cooking",
+    "Move the cylindrical sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can and move it close to the metal kitchenpot",
+    "Pick up the sauce can with sealed top and put it beside the metal kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the metal kitchenpot",
+    "Place the sauce can next to the smooth gray kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Take the sauce can with glossy finish with the left arm, place it near the round kitchenpot with handles",
+    "With the left arm, grab the hand-sized sauce can and move to the cylindrical kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the round kitchenpot with handles",
+    "Set the yellow brown sauce can right next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish using the left arm and position it by the medium kitchenpot made of metal",
+    "Take the medium sauce can with white lid using the left arm, set it next to the dark gray stove kitchenpot",
+    "Pick up the sauce can with the left arm and set by the round kitchenpot with handles",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the dark gray stove kitchenpot",
+    "Move the hand-sized sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Lift the yellow brown sauce can, then place it next to the cylindrical kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top to the kitchenpot for boiling and cooking with the left arm",
+    "Grab the sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish, move it to the gray cylindrical metal kitchenpot's side",
+    "Lift the sauce can with sealed top and place it next to the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern and set it beside the metal kitchenpot",
+    "Place the sauce can with sealed top beside the metal kitchenpot after picking it up",
+    "Pick the plastic lid sauce can up and move it next to the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the sauce can, move it beside the medium kitchenpot made of metal",
+    "Use the left arm to move the sauce can beside the gray cylindrical metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Set the sauce can with glossy finish near the metal kitchenpot after picking it up",
+    "Lift the white plastic lid sauce can, place it by the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to take the medium sauce can with white lid to the cooking kitchenpot with side grips",
+    "Pick the sauce can with glossy finish up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish up and carefully position it beside the medium-sized kitchenpot",
+    "Take the round sauce can with yellow pattern to the gray kitchenpot using the left arm",
+    "Move the medium sauce can with white lid to be next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Move the plastic lid sauce can from its spot to near the round kitchenpot with handles",
+    "Grab the hand-sized sauce can and move it close to the round kitchenpot with handles",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the cylindrical kitchenpot",
+    "Place the hand-sized sauce can next to the medium kitchenpot made of metal",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid, move it, and place by the round kitchenpot with handles",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the cylindrical kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the round kitchenpot with handles",
+    "Bring the round sauce can with yellow pattern over and set it near the medium-sized kitchenpot",
+    "Set the round sauce can with yellow pattern right next to the round kitchenpot with handles",
+    "Lift the sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Take the medium sauce can with white lid using the left arm, set it next to the medium-sized kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the gray kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Lift the white plastic lid sauce can, then place it next to the smooth gray kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Move the round sauce can with yellow pattern to the medium-sized kitchenpot with the left arm",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Lift the sauce can with sealed top and place it next to the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the metal kitchenpot"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode25.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring the brown and yellow cylindrical sauce can over and set it near the medium kitchenpot made of metal",
+    "Use the left arm to pick the yellow brown sauce can, position it near the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top, move it to the medium kitchenpot made of metal's side",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the dark gray stove kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the medium kitchenpot made of metal",
+    "Pick the plastic lid sauce can and position it next to the medium-sized kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Place the sauce can with glossy finish next to the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid up and move it next to the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Set the sauce can with glossy finish near the cooking kitchenpot with side grips after picking it up",
+    "Take the hand-sized sauce can with the left arm, place it near the gray kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Lift the medium sauce can with white lid and place it next to the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top to the medium-sized kitchenpot with the left arm",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the cylindrical kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the kitchenpot with smooth exterior",
+    "Grab the cylindrical sauce can and move it close to the gray kitchenpot",
+    "Lift the sauce can and set it next to the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can, move it, and place by the cylindrical kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the kitchenpot with smooth exterior",
+    "Move the white plastic lid sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top to be next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and set it next to the kitchenpot with smooth exterior",
+    "Set the yellow brown sauce can right next to the medium-sized kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the kitchenpot with smooth exterior",
+    "Pick up the hand-sized sauce can and put it beside the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can and move it near the smooth gray kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the medium-sized kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Using the left arm, lift the yellow brown sauce can and place it by the round kitchenpot with handles",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can, place it by the gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the metal kitchenpot",
+    "Move the sauce can with sealed top beside the medium-sized kitchenpot after lifting it",
+    "With the left arm, grab the plastic lid sauce can and move to the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Take the medium sauce can with white lid using the left arm, set it next to the metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the kitchenpot with smooth exterior",
+    "Take the yellow brown sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Pick the white plastic lid sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Place the medium sauce can with white lid beside the round kitchenpot with handles after picking it up",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the metal kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the cylindrical kitchenpot's side",
+    "Use the left arm to grab the sauce can and move it beside the metal kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the medium-sized kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Place the cylindrical sauce can next to the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Set the hand-sized sauce can near the round kitchenpot with handles after picking it up",
+    "Take the sauce can with glossy finish with the left arm, place it near the medium kitchenpot made of metal",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern and place it next to the gray cylindrical metal kitchenpot",
+    "Move the sauce can to the round kitchenpot with handles with the left arm",
+    "Lift the sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can, then place it next to the metal kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern and move it close to the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top and set it next to the gray kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Grab the sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Use the left arm to move the white plastic lid sauce can beside the gray kitchenpot",
+    "Move the sauce can with glossy finish from its spot to near the gray cylindrical metal kitchenpot",
+    "Move the rounded-edge sauce can to be next to the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the medium kitchenpot made of metal",
+    "Set the white plastic lid sauce can right next to the cooking kitchenpot with side grips",
+    "Use the left arm to take the rounded-edge sauce can to the medium kitchenpot made of metal",
+    "Pick up the white plastic lid sauce can and put it beside the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the smooth gray kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can, place it by the medium kitchenpot made of metal",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "With the left arm, grab the sauce can and move to the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the gray cylindrical metal kitchenpot",
+    "Take the hand-sized sauce can to the cylindrical kitchenpot using the left arm",
+    "Pick the sauce can with glossy finish up and carefully position it beside the gray kitchenpot",
+    "Place the rounded-edge sauce can beside the metal kitchenpot after picking it up",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the round kitchenpot with handles",
+    "Pick the hand-sized sauce can up with the left arm then place near the gray kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode26.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Move the plastic lid sauce can to the smooth gray kitchenpot with the left arm",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Move the white plastic lid sauce can beside the gray kitchenpot after lifting it",
+    "Take the white plastic lid sauce can to the smooth gray kitchenpot using the left arm",
+    "Place the yellow brown sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Bring the sauce can over and set it near the round kitchenpot with handles",
+    "Pick the rounded-edge sauce can up and move it next to the round kitchenpot with handles",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Pick the sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the smooth gray kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the round kitchenpot with handles",
+    "Grab the hand-sized sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the medium-sized kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top, place it by the cooking kitchenpot with side grips",
+    "Take the hand-sized sauce can with the left arm, place it near the metal kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the round kitchenpot with handles",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the cooking kitchenpot with side grips",
+    "Lift the sauce can and place it next to the cylindrical kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the cylindrical kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can, move it to the dark gray stove kitchenpot's side",
+    "Place the yellow brown sauce can next to the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Move the cylindrical sauce can to be next to the dark gray stove kitchenpot",
+    "Grab the sauce can, move it, and place by the gray kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the cooking kitchenpot with side grips",
+    "Set the round sauce can with yellow pattern near the gray kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the gray kitchenpot",
+    "Grab the plastic lid sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Pick the cylindrical sauce can and position it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the smooth gray kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Use the left arm to take the round sauce can with yellow pattern to the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the cooking kitchenpot with side grips",
+    "With the left arm, grab the hand-sized sauce can and move to the dark gray stove kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Lift the sauce can and set it beside the cylindrical kitchenpot",
+    "Move the round sauce can with yellow pattern to the medium-sized kitchenpot with the left arm",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the cylindrical kitchenpot",
+    "Move the sauce can with sealed top beside the kitchenpot with smooth exterior after lifting it",
+    "Take the round sauce can with yellow pattern to the dark gray stove kitchenpot using the left arm",
+    "Place the cylindrical sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Bring the white plastic lid sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Pick the hand-sized sauce can up and move it next to the metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the gray kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and position it by the kitchenpot with smooth exterior",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the kitchenpot with smooth exterior",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the kitchenpot with smooth exterior",
+    "Use the left arm to move the sauce can with glossy finish beside the medium-sized kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the metal kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the gray kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Take the sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the medium kitchenpot made of metal",
+    "Set the hand-sized sauce can right next to the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can, place it by the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can with the left arm, place it near the gray kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can and move it next to the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the kitchenpot with smooth exterior",
+    "Pick up the plastic lid sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can and set it next to the round kitchenpot with handles",
+    "Pick up the hand-sized sauce can and put it beside the round kitchenpot with handles",
+    "Grab the cylindrical sauce can, move it to the dark gray stove kitchenpot's side",
+    "Place the yellow brown sauce can next to the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the medium kitchenpot made of metal",
+    "Move the medium sauce can with white lid to be next to the cylindrical kitchenpot",
+    "Grab the medium sauce can with white lid, move it, and place by the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can up and carefully position it beside the gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the kitchenpot with smooth exterior",
+    "Set the plastic lid sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top and move it close to the metal kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the kitchenpot with smooth exterior",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Use the left arm to take the plastic lid sauce can to the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the smooth gray kitchenpot",
+    "Lift the hand-sized sauce can and move it near the metal kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode27.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the sauce can with glossy finish, then place it next to the gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the metal kitchenpot",
+    "Take the hand-sized sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the cylindrical kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the gray kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and move it close to the gray kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid and set it next to the gray kitchenpot",
+    "Pick up the white plastic lid sauce can and put it beside the medium-sized kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the metal kitchenpot",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the dark gray stove kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the gray kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the kitchenpot with smooth exterior",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the cooking kitchenpot with side grips",
+    "With the left arm, grab the white plastic lid sauce can and move to the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and move it near the gray kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Grab the sauce can with sealed top, move it, and place by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the medium kitchenpot made of metal",
+    "Set the sauce can right next to the gray cylindrical metal kitchenpot",
+    "Take the rounded-edge sauce can to the round kitchenpot with handles using the left arm",
+    "Move the cylindrical sauce can to be next to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can, move it to the cylindrical kitchenpot's side",
+    "Grab the plastic lid sauce can with the left arm and position it beside the metal kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid, place it by the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the kitchenpot with smooth exterior",
+    "Move the medium sauce can with white lid beside the dark gray stove kitchenpot after lifting it",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the metal kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the kitchenpot with smooth exterior",
+    "Place the rounded-edge sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish and move it close to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the gray kitchenpot",
+    "Place the white plastic lid sauce can next to the gray kitchenpot",
+    "Grab the sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Set the yellow brown sauce can near the gray kitchenpot after picking it up",
+    "Move the hand-sized sauce can to the gray kitchenpot with the left arm",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can up and move it next to the medium kitchenpot made of metal",
+    "Take the sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can, then place it next to the cylindrical kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the metal kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, place it near the smooth gray kitchenpot",
+    "Pick the yellow brown sauce can up with the left arm then place near the gray kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and set it next to the gray kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Pick the sauce can with glossy finish and position it next to the round kitchenpot with handles",
+    "Pick up the medium sauce can with white lid with the left arm and set by the metal kitchenpot",
+    "Bring the sauce can over and set it near the dark gray stove kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the gray cylindrical metal kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the gray kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can and move it near the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the cylindrical kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the gray cylindrical metal kitchenpot",
+    "Set the white plastic lid sauce can right next to the gray cylindrical metal kitchenpot",
+    "Take the cylindrical sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Move the white plastic lid sauce can to be next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can, move it to the medium kitchenpot made of metal's side",
+    "Grab the cylindrical sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Lift the plastic lid sauce can, place it by the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the smooth gray kitchenpot",
+    "Move the sauce can with sealed top beside the gray kitchenpot after lifting it",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the cylindrical kitchenpot",
+    "Place the rounded-edge sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can and move it close to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the kitchenpot with smooth exterior",
+    "Place the hand-sized sauce can next to the dark gray stove kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Set the medium sauce can with white lid near the medium-sized kitchenpot after picking it up",
+    "Move the white plastic lid sauce can to the dark gray stove kitchenpot with the left arm",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the round kitchenpot with handles",
+    "Pick the sauce can up and move it next to the smooth gray kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode28.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the metal kitchenpot",
+    "Move the plastic lid sauce can to be next to the metal kitchenpot",
+    "Bring the sauce can over and set it near the gray kitchenpot",
+    "Grab the white plastic lid sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the metal kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the smooth gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the kitchenpot for boiling and cooking",
+    "Use the left arm to take the white plastic lid sauce can to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can, place it by the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can and move it near the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the sauce can beside the medium kitchenpot made of metal",
+    "Pick the white plastic lid sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can with the left arm and set it near the metal kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the metal kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Set the white plastic lid sauce can right next to the cylindrical kitchenpot",
+    "Place the yellow brown sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Pick the white plastic lid sauce can up and move it next to the metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Take the hand-sized sauce can to the gray kitchenpot using the left arm",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the medium-sized kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the metal kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Move the white plastic lid sauce can to the metal kitchenpot with the left arm",
+    "Move the yellow brown sauce can from its spot to near the metal kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the metal kitchenpot",
+    "Place the brown and yellow cylindrical sauce can next to the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Set the white plastic lid sauce can near the smooth gray kitchenpot after picking it up",
+    "Pick up the sauce can with sealed top with the left arm and set by the medium-sized kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the cooking kitchenpot with side grips",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the round kitchenpot with handles",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the gray kitchenpot",
+    "Move the hand-sized sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Grab the rounded-edge sauce can, move it to the metal kitchenpot's side",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the gray kitchenpot",
+    "Move the medium sauce can with white lid to be next to the gray kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the cooking kitchenpot with side grips",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the cooking kitchenpot with side grips",
+    "Using the left arm, lift the sauce can and place it by the kitchenpot with smooth exterior",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the yellow brown sauce can, position it near the medium kitchenpot made of metal",
+    "Use the left arm to take the yellow brown sauce can to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid, place it by the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and move it near the gray kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the yellow brown sauce can beside the metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and set it near the gray kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Set the white plastic lid sauce can right next to the medium-sized kitchenpot",
+    "Place the yellow brown sauce can beside the metal kitchenpot after picking it up",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Pick the sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Take the hand-sized sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Lift the medium sauce can with white lid using the left arm and position it by the medium kitchenpot made of metal",
+    "Use the left arm to lift the cylindrical sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the dark gray stove kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Grab the hand-sized sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid to the smooth gray kitchenpot with the left arm",
+    "Move the plastic lid sauce can from its spot to near the smooth gray kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Place the cylindrical sauce can next to the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and set it next to the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can and set it next to the gray kitchenpot",
+    "Lift the plastic lid sauce can and place it next to the metal kitchenpot",
+    "Set the white plastic lid sauce can near the medium kitchenpot made of metal after picking it up",
+    "Pick up the rounded-edge sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the cylindrical kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the smooth gray kitchenpot",
+    "Move the plastic lid sauce can beside the medium-sized kitchenpot after lifting it",
+    "Grab the plastic lid sauce can, move it to the gray kitchenpot's side"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode29.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the white plastic lid sauce can with the left arm and set it near the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid and set it next to the metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the cylindrical kitchenpot",
+    "Move the yellow brown sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Grab the sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Lift the sauce can, place it by the cylindrical kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the metal kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the cylindrical kitchenpot",
+    "Lift the sauce can and move it near the round kitchenpot with handles",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the kitchenpot with smooth exterior",
+    "Pick the round sauce can with yellow pattern and position it next to the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can and move it close to the gray kitchenpot",
+    "Place the cylindrical sauce can next to the round kitchenpot with handles",
+    "Take the cylindrical sauce can to the smooth gray kitchenpot using the left arm",
+    "Move the white plastic lid sauce can to be next to the metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Take the sauce can with the left arm, place it near the medium kitchenpot made of metal",
+    "Lift the sauce can and place it next to the cylindrical kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the gray cylindrical metal kitchenpot",
+    "Pick up the cylindrical sauce can and put it beside the cylindrical kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the cooking kitchenpot with side grips",
+    "With the left arm, grab the hand-sized sauce can and move to the round kitchenpot with handles",
+    "Pick the sauce can up and move it next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the kitchenpot with smooth exterior",
+    "Bring the sauce can over and set it near the smooth gray kitchenpot",
+    "Lift the sauce can and set it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the cooking kitchenpot with side grips",
+    "Move the cylindrical sauce can from its spot to near the cylindrical kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the metal kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Grab the white plastic lid sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Move the white plastic lid sauce can to the cylindrical kitchenpot with the left arm",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and position it by the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top and set it beside the cylindrical kitchenpot",
+    "Place the hand-sized sauce can beside the metal kitchenpot after picking it up",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the dark gray stove kitchenpot",
+    "Pick up the sauce can with the left arm and set by the round kitchenpot with handles",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Set the medium sauce can with white lid near the gray cylindrical metal kitchenpot after picking it up",
+    "Grab the yellow brown sauce can with the left arm and set it near the metal kitchenpot",
+    "Lift the sauce can and set it next to the gray kitchenpot",
+    "Set the plastic lid sauce can right next to the kitchenpot with smooth exterior",
+    "Move the cylindrical sauce can beside the cylindrical kitchenpot after lifting it",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the gray kitchenpot",
+    "Lift the sauce can with sealed top, place it by the kitchenpot with smooth exterior",
+    "Use the left arm to take the brown and yellow cylindrical sauce can to the cylindrical kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can, then place it next to the medium-sized kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can and move it near the kitchenpot with smooth exterior",
+    "Using the left arm, lift the plastic lid sauce can and place it by the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the smooth gray kitchenpot",
+    "Place the hand-sized sauce can next to the gray cylindrical metal kitchenpot",
+    "Take the white plastic lid sauce can to the cylindrical kitchenpot using the left arm",
+    "Move the sauce can with sealed top to be next to the gray kitchenpot",
+    "Use the left arm to lift the sauce can and place it near the gray kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the cooking kitchenpot with side grips",
+    "Grab the sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Take the yellow brown sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the sauce can and place it next to the metal kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the smooth gray kitchenpot",
+    "Pick up the cylindrical sauce can and put it beside the gray kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the medium kitchenpot made of metal",
+    "With the left arm, grab the sauce can with glossy finish and move to the kitchenpot for boiling and cooking",
+    "Pick the rounded-edge sauce can up and move it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the yellow brown sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Bring the round sauce can with yellow pattern over and set it near the round kitchenpot with handles",
+    "Lift the yellow brown sauce can and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the kitchenpot with smooth exterior",
+    "Move the sauce can from its spot to near the gray kitchenpot",
+    "Take the white plastic lid sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Lift the sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the smooth gray kitchenpot's side",
+    "Move the medium sauce can with white lid to the cylindrical kitchenpot with the left arm",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top using the left arm and position it by the medium kitchenpot made of metal",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can and set it beside the medium kitchenpot made of metal",
+    "Place the white plastic lid sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the medium kitchenpot made of metal",
+    "Pick up the medium sauce can with white lid with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Set the yellow brown sauce can near the kitchenpot for boiling and cooking after picking it up"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cylindrical sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Use the left arm to move the plastic lid sauce can beside the round kitchenpot with handles",
+    "Move the round sauce can with yellow pattern from its spot to near the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the medium-sized kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the metal kitchenpot",
+    "Take the plastic lid sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Pick the sauce can with glossy finish and position it next to the metal kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the kitchenpot for boiling and cooking",
+    "Set the yellow brown sauce can near the metal kitchenpot after picking it up",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the metal kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the medium kitchenpot made of metal",
+    "Move the sauce can with glossy finish to the medium-sized kitchenpot with the left arm",
+    "Place the medium sauce can with white lid next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the dark gray stove kitchenpot",
+    "Set the sauce can with glossy finish right next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can and move it beside the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the kitchenpot with smooth exterior",
+    "With the left arm, grab the sauce can with glossy finish and move to the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the metal kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top, place it by the medium-sized kitchenpot",
+    "Move the medium sauce can with white lid beside the gray kitchenpot after lifting it",
+    "Lift the white plastic lid sauce can and set it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top, position it near the metal kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can and move it close to the medium kitchenpot made of metal",
+    "Move the brown and yellow cylindrical sauce can to be next to the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish, move it to the smooth gray kitchenpot's side",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the smooth gray kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top and set it next to the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the round kitchenpot with handles",
+    "Grab the sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Place the medium sauce can with white lid beside the smooth gray kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the kitchenpot with smooth exterior",
+    "Take the sauce can with sealed top with the left arm, place it near the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can, then place it next to the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Pick the sauce can up and move it next to the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Use the left arm to move the cylindrical sauce can beside the round kitchenpot with handles",
+    "Move the cylindrical sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can with the left arm and set it near the metal kitchenpot",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Take the white plastic lid sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Pick the medium sauce can with white lid and position it next to the medium-sized kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the gray cylindrical metal kitchenpot",
+    "Set the medium sauce can with white lid near the kitchenpot for boiling and cooking after picking it up",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the round kitchenpot with handles",
+    "Pick up the medium sauce can with white lid and put it beside the smooth gray kitchenpot",
+    "Move the hand-sized sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Place the sauce can next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "Set the hand-sized sauce can right next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the metal kitchenpot",
+    "Lift the cylindrical sauce can and move it near the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the dark gray stove kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the cylindrical kitchenpot",
+    "Pick the sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can, place it by the dark gray stove kitchenpot",
+    "Move the sauce can with glossy finish beside the kitchenpot for boiling and cooking after lifting it",
+    "Lift the yellow brown sauce can and set it beside the smooth gray kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the dark gray stove kitchenpot",
+    "Bring the cylindrical sauce can over and set it near the medium-sized kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can and move it close to the gray kitchenpot",
+    "Move the white plastic lid sauce can to be next to the metal kitchenpot",
+    "Grab the plastic lid sauce can, move it to the round kitchenpot with handles's side",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the medium-sized kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Place the medium sauce can with white lid beside the medium kitchenpot made of metal after picking it up",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the medium-sized kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can, then place it next to the gray kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can up and move it next to the gray kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the gray kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode30.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the medium sauce can with white lid beside the cooking kitchenpot with side grips after lifting it",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the kitchenpot for boiling and cooking",
+    "Use the left arm to move the cylindrical sauce can beside the dark gray stove kitchenpot",
+    "Set the white plastic lid sauce can right next to the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can, then place it next to the cylindrical kitchenpot",
+    "Place the white plastic lid sauce can beside the medium-sized kitchenpot after picking it up",
+    "Move the medium sauce can with white lid to be next to the cooking kitchenpot with side grips",
+    "Move the yellow brown sauce can to the kitchenpot for boiling and cooking with the left arm",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Take the cylindrical sauce can to the dark gray stove kitchenpot using the left arm",
+    "Grab the rounded-edge sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Lift the white plastic lid sauce can, place it by the smooth gray kitchenpot",
+    "Pick the yellow brown sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and set it beside the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the metal kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the medium kitchenpot made of metal",
+    "Pick up the sauce can with glossy finish and put it beside the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the smooth gray kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and set it next to the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the round kitchenpot with handles",
+    "Grab the sauce can with sealed top with the left arm and move it close to the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the metal kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the medium-sized kitchenpot",
+    "Set the medium sauce can with white lid near the dark gray stove kitchenpot after picking it up",
+    "Grab the yellow brown sauce can, move it, and place by the gray kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the cylindrical kitchenpot",
+    "Place the hand-sized sauce can next to the gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and move it near the round kitchenpot with handles",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the gray kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, place it near the metal kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Use the left arm to take the hand-sized sauce can to the round kitchenpot with handles",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Pick the round sauce can with yellow pattern and position it next to the cylindrical kitchenpot",
+    "With the left arm, grab the sauce can and move to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the round kitchenpot with handles",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can and place it near the cylindrical kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the cylindrical kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Move the round sauce can with yellow pattern beside the round kitchenpot with handles after lifting it",
+    "Use the left arm to pick the sauce can with sealed top, position it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the sauce can beside the dark gray stove kitchenpot",
+    "Set the round sauce can with yellow pattern right next to the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the medium kitchenpot made of metal",
+    "Place the rounded-edge sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Move the yellow brown sauce can to be next to the medium kitchenpot made of metal",
+    "Move the white plastic lid sauce can to the smooth gray kitchenpot with the left arm",
+    "Pick up the sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and place it next to the smooth gray kitchenpot",
+    "Take the sauce can to the medium kitchenpot made of metal using the left arm",
+    "Grab the round sauce can with yellow pattern, move it to the medium-sized kitchenpot's side",
+    "Lift the rounded-edge sauce can, place it by the cylindrical kitchenpot",
+    "Pick the sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can and set it beside the cylindrical kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Grab the sauce can with sealed top and move it close to the gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can up and carefully position it beside the metal kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the cylindrical sauce can and place it by the smooth gray kitchenpot",
+    "Set the sauce can near the medium-sized kitchenpot after picking it up",
+    "Grab the medium sauce can with white lid, move it, and place by the smooth gray kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Place the medium sauce can with white lid next to the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Grab the sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and move it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the medium-sized kitchenpot",
+    "Take the sauce can with sealed top with the left arm, place it near the cylindrical kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Use the left arm to take the sauce can with sealed top to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the cooking kitchenpot with side grips",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the cylindrical kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the round kitchenpot with handles",
+    "Bring the hand-sized sauce can over and set it near the cylindrical kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the gray cylindrical metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking"
+  ],
+  "unseen": [
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode31.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the gray kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can, move it to the round kitchenpot with handles's side",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the gray kitchenpot",
+    "Use the left arm to lift the sauce can and place it near the gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the kitchenpot for boiling and cooking",
+    "Pick the sauce can with glossy finish up with the left arm then place near the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Move the round sauce can with yellow pattern to be next to the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the metal kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Bring the medium sauce can with white lid over and set it near the cylindrical kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the round kitchenpot with handles",
+    "Pick the sauce can up and move it next to the cylindrical kitchenpot",
+    "Place the brown and yellow cylindrical sauce can next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the gray kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the dark gray stove kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the cylindrical kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the cylindrical kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and place it next to the smooth gray kitchenpot",
+    "Place the sauce can with glossy finish beside the cooking kitchenpot with side grips after picking it up",
+    "Grab the sauce can with glossy finish with the left arm and set it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the plastic lid sauce can and move to the metal kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the smooth gray kitchenpot",
+    "Set the rounded-edge sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Lift the white plastic lid sauce can and move it near the dark gray stove kitchenpot",
+    "Grab the sauce can and move it close to the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can, place it by the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the round kitchenpot with handles",
+    "Pick the plastic lid sauce can up and carefully position it beside the metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can, shift it, and place it close to the medium-sized kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the cooking kitchenpot with side grips",
+    "Move the hand-sized sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Pick up the sauce can with sealed top with the left arm and set by the smooth gray kitchenpot",
+    "Take the yellow brown sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Set the yellow brown sauce can right next to the smooth gray kitchenpot",
+    "Take the rounded-edge sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Move the sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the kitchenpot with smooth exterior",
+    "Take the cylindrical sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and set it next to the dark gray stove kitchenpot",
+    "Grab the sauce can with glossy finish, move it to the medium kitchenpot made of metal's side",
+    "Pick the round sauce can with yellow pattern and position it next to the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can, then move it next to the round kitchenpot with handles",
+    "Use the left arm to lift the plastic lid sauce can and place it near the metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the round kitchenpot with handles",
+    "Pick the hand-sized sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Lift the sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Move the sauce can to be next to the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the cooking kitchenpot with side grips",
+    "Bring the yellow brown sauce can over and set it near the medium-sized kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the gray kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the cylindrical kitchenpot",
+    "Place the sauce can next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the kitchenpot with smooth exterior",
+    "Use the left arm to take the sauce can to the medium kitchenpot made of metal",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the medium-sized kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the kitchenpot with smooth exterior",
+    "Place the yellow brown sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Grab the cylindrical sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "With the left arm, grab the yellow brown sauce can and move to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the cylindrical kitchenpot",
+    "Set the round sauce can with yellow pattern near the gray kitchenpot after picking it up",
+    "Lift the sauce can with sealed top and move it near the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern and move it close to the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top, place it by the dark gray stove kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the medium kitchenpot made of metal",
+    "Pick the sauce can with glossy finish up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the round kitchenpot with handles",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the medium-sized kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the smooth gray kitchenpot",
+    "Move the sauce can with sealed top to the cylindrical kitchenpot with the left arm",
+    "Pick up the sauce can with sealed top with the left arm and set by the dark gray stove kitchenpot",
+    "Take the sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Set the sauce can with sealed top right next to the cylindrical kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Move the white plastic lid sauce can beside the smooth gray kitchenpot after lifting it"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode32.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the sauce can and put it beside the cylindrical kitchenpot",
+    "With the left arm, grab the sauce can with glossy finish and move to the medium-sized kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Bring the white plastic lid sauce can over and set it near the cooking kitchenpot with side grips",
+    "Grab the yellow brown sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Place the plastic lid sauce can beside the metal kitchenpot after picking it up",
+    "Place the plastic lid sauce can next to the gray kitchenpot",
+    "Move the plastic lid sauce can beside the smooth gray kitchenpot after lifting it",
+    "Grab the white plastic lid sauce can, move it, and place by the metal kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the dark gray stove kitchenpot",
+    "Pick up the sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Set the round sauce can with yellow pattern near the round kitchenpot with handles after picking it up",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the cylindrical kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the gray kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can and move it near the dark gray stove kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the smooth gray kitchenpot",
+    "Pick the hand-sized sauce can up and move it next to the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can to the medium kitchenpot made of metal with the left arm",
+    "Use the left arm to take the yellow brown sauce can to the metal kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the metal kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the medium kitchenpot made of metal",
+    "Move the round sauce can with yellow pattern from its spot to near the cooking kitchenpot with side grips",
+    "Move the hand-sized sauce can to be next to the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can, move it to the gray kitchenpot's side",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and set it next to the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can and set it next to the cylindrical kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the medium-sized kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the round kitchenpot with handles",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Take the sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the dark gray stove kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the metal kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the gray kitchenpot",
+    "Take the sauce can with sealed top to the kitchenpot for boiling and cooking using the left arm",
+    "Pick up the plastic lid sauce can and put it beside the smooth gray kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid with the left arm and set it near the metal kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Place the cylindrical sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Place the hand-sized sauce can next to the kitchenpot for boiling and cooking",
+    "Move the hand-sized sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Grab the round sauce can with yellow pattern, move it, and place by the metal kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can, then place it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the metal kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Set the round sauce can with yellow pattern near the round kitchenpot with handles after picking it up",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the gray kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the gray kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the smooth gray kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the cylindrical kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the medium-sized kitchenpot",
+    "Move the sauce can with glossy finish to the kitchenpot for boiling and cooking with the left arm",
+    "Use the left arm to take the medium sauce can with white lid to the medium-sized kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the gray cylindrical metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the gray kitchenpot",
+    "Grab the sauce can with sealed top, move it to the gray cylindrical metal kitchenpot's side",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the metal kitchenpot",
+    "Set the rounded-edge sauce can right next to the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the cylindrical kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Take the sauce can with glossy finish with the left arm, place it near the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the round kitchenpot with handles",
+    "Use the left arm to move the yellow brown sauce can beside the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the metal kitchenpot",
+    "Lift the sauce can using the left arm and position it by the medium-sized kitchenpot",
+    "Take the plastic lid sauce can to the medium-sized kitchenpot using the left arm"
+  ],
+  "unseen": [
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode33.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow brown sauce can, place it by the cooking kitchenpot with side grips",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot with smooth exterior",
+    "Pick up the medium sauce can with white lid and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the dark gray stove kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the kitchenpot with smooth exterior",
+    "Grab the sauce can with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the round kitchenpot with handles with the left arm",
+    "Set the round sauce can with yellow pattern right next to the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish, move it, and place by the metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Lift the sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Lift the sauce can and move it near the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the kitchenpot for boiling and cooking",
+    "Pick the plastic lid sauce can up and move it next to the metal kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Set the round sauce can with yellow pattern near the gray kitchenpot after picking it up",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Lift the rounded-edge sauce can, then place it next to the medium kitchenpot made of metal",
+    "Use the left arm to take the plastic lid sauce can to the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can, move it to the medium-sized kitchenpot's side",
+    "Grab the yellow brown sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the gray cylindrical metal kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the gray kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the dark gray stove kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the medium kitchenpot made of metal",
+    "Take the rounded-edge sauce can to the dark gray stove kitchenpot using the left arm",
+    "Pick the rounded-edge sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the plastic lid sauce can and place it near the dark gray stove kitchenpot",
+    "Place the cylindrical sauce can next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish and set it beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the gray cylindrical metal kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the round kitchenpot with handles",
+    "Pick the medium sauce can with white lid up with the left arm then place near the cylindrical kitchenpot",
+    "Take the medium sauce can with white lid using the left arm, set it next to the round kitchenpot with handles",
+    "Move the hand-sized sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Bring the rounded-edge sauce can over and set it near the cooking kitchenpot with side grips",
+    "Move the sauce can with sealed top to be next to the cooking kitchenpot with side grips",
+    "With the left arm, grab the yellow brown sauce can and move to the metal kitchenpot",
+    "Use the left arm to grab the sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Place the plastic lid sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Take the yellow brown sauce can with the left arm, place it near the metal kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top, place it by the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can and move it beside the dark gray stove kitchenpot",
+    "Pick up the hand-sized sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the medium-sized kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Move the sauce can to the medium-sized kitchenpot with the left arm",
+    "Set the cylindrical sauce can right next to the metal kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the cylindrical kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and position it by the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can and move it near the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the kitchenpot with smooth exterior",
+    "Set the yellow brown sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid, then place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the gray kitchenpot",
+    "Grab the medium sauce can with white lid, move it to the cooking kitchenpot with side grips's side",
+    "Grab the cylindrical sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the kitchenpot with smooth exterior",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Move the medium sauce can with white lid from its spot to near the medium kitchenpot made of metal",
+    "Pick the sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Take the cylindrical sauce can to the round kitchenpot with handles using the left arm",
+    "Pick the cylindrical sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can and set it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the medium kitchenpot made of metal",
+    "Place the white plastic lid sauce can next to the kitchenpot for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the cylindrical kitchenpot",
+    "Pick up the hand-sized sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the metal kitchenpot",
+    "Pick the sauce can with sealed top up with the left arm then place near the round kitchenpot with handles",
+    "Take the plastic lid sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Move the yellow brown sauce can beside the cylindrical kitchenpot after lifting it",
+    "Bring the sauce can over and set it near the cylindrical kitchenpot",
+    "Move the cylindrical sauce can to be next to the gray kitchenpot",
+    "With the left arm, grab the sauce can with sealed top and move to the dark gray stove kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Place the medium sauce can with white lid beside the kitchenpot for boiling and cooking after picking it up",
+    "Take the yellow brown sauce can with the left arm, place it near the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the medium kitchenpot made of metal"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode34.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the medium sauce can with white lid with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the gray kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Move the rounded-edge sauce can to the smooth gray kitchenpot with the left arm",
+    "Lift the hand-sized sauce can and place it next to the round kitchenpot with handles",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Pick the plastic lid sauce can up with the left arm then place near the metal kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Move the round sauce can with yellow pattern to be next to the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the smooth gray kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Pick the medium sauce can with white lid and position it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the dark gray stove kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the cylindrical kitchenpot after picking it up",
+    "Pick up the hand-sized sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish, place it by the kitchenpot with smooth exterior",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern and move it close to the kitchenpot with smooth exterior",
+    "Set the medium sauce can with white lid right next to the cooking kitchenpot with side grips",
+    "Take the hand-sized sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Use the left arm to move the medium sauce can with white lid beside the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Grab the sauce can with the left arm and set it near the medium-sized kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the metal kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top, move it to the round kitchenpot with handles's side",
+    "Move the yellow brown sauce can from its spot to near the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot with smooth exterior",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the kitchenpot with smooth exterior",
+    "Bring the sauce can with glossy finish over and set it near the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid and move it near the cooking kitchenpot with side grips",
+    "Using the left arm, lift the plastic lid sauce can and place it by the metal kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the cylindrical kitchenpot",
+    "With the left arm, grab the sauce can with sealed top and move to the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the cylindrical kitchenpot",
+    "Place the white plastic lid sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Place the cylindrical sauce can next to the metal kitchenpot",
+    "Use the left arm to grab the sauce can and move it next to the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can, then place it next to the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, place it near the gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top beside the dark gray stove kitchenpot after lifting it",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Move the medium sauce can with white lid to the round kitchenpot with handles with the left arm",
+    "Lift the hand-sized sauce can and place it next to the cooking kitchenpot with side grips",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the round kitchenpot with handles",
+    "Pick the sauce can with sealed top up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Move the hand-sized sauce can to be next to the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the dark gray stove kitchenpot",
+    "Pick up the sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the medium kitchenpot made of metal",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the round kitchenpot with handles",
+    "Set the cylindrical sauce can near the metal kitchenpot after picking it up",
+    "Pick up the round sauce can with yellow pattern and put it beside the cooking kitchenpot with side grips",
+    "Use the left arm to take the yellow brown sauce can to the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top, place it by the round kitchenpot with handles",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the round kitchenpot with handles",
+    "Set the yellow brown sauce can right next to the metal kitchenpot",
+    "Take the cylindrical sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Use the left arm to move the medium sauce can with white lid beside the round kitchenpot with handles",
+    "Lift the plastic lid sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Grab the sauce can, move it, and place by the gray kitchenpot",
+    "Grab the sauce can, move it to the cylindrical kitchenpot's side",
+    "Move the yellow brown sauce can from its spot to near the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot for boiling and cooking",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the smooth gray kitchenpot",
+    "Bring the white plastic lid sauce can over and set it near the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the medium kitchenpot made of metal",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the dark gray stove kitchenpot",
+    "Take the medium sauce can with white lid using the left arm, set it next to the medium-sized kitchenpot",
+    "With the left arm, grab the plastic lid sauce can and move to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the cylindrical kitchenpot",
+    "Place the hand-sized sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Place the brown and yellow cylindrical sauce can next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the gray kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the metal kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the metal kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the metal kitchenpot"
+  ],
+  "unseen": [
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode35.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the white plastic lid sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can and position it next to the metal kitchenpot",
+    "Pick the hand-sized sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with the left arm and move it close to the gray kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the metal kitchenpot",
+    "Grab the rounded-edge sauce can, move it to the gray kitchenpot's side",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it near the round kitchenpot with handles",
+    "Grab the sauce can, move it, and place by the gray kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the metal kitchenpot",
+    "Bring the round sauce can with yellow pattern over and set it near the dark gray stove kitchenpot",
+    "Move the sauce can to the medium-sized kitchenpot with the left arm",
+    "With the left arm, grab the medium sauce can with white lid and move to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the gray cylindrical metal kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the medium-sized kitchenpot",
+    "Use the left arm to take the sauce can to the medium-sized kitchenpot",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Lift the sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the round kitchenpot with handles",
+    "Take the round sauce can with yellow pattern to the gray kitchenpot using the left arm",
+    "Set the white plastic lid sauce can near the dark gray stove kitchenpot after picking it up",
+    "Using the left arm, lift the sauce can with sealed top and place it by the smooth gray kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top from its spot to near the cylindrical kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with glossy finish with the left arm and set by the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can, place it by the gray kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the gray kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the dark gray stove kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the smooth gray kitchenpot",
+    "Place the sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and set it next to the cooking kitchenpot with side grips",
+    "Grab the sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the round kitchenpot with handles",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can and place it next to the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Place the medium sauce can with white lid next to the cooking kitchenpot with side grips",
+    "Take the sauce can with glossy finish with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top and set it beside the medium kitchenpot made of metal",
+    "Use the left arm to move the plastic lid sauce can beside the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Lift the rounded-edge sauce can and set it next to the cooking kitchenpot with side grips",
+    "Pick the plastic lid sauce can up and move it next to the cylindrical kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the kitchenpot for boiling and cooking",
+    "Pick the white plastic lid sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the medium-sized kitchenpot",
+    "Grab the sauce can, move it to the gray kitchenpot's side",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the gray kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish and move it near the medium-sized kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Move the round sauce can with yellow pattern to the kitchenpot with smooth exterior with the left arm",
+    "With the left arm, grab the medium sauce can with white lid and move to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can and transfer it near the round kitchenpot with handles",
+    "Move the sauce can to be next to the kitchenpot with smooth exterior",
+    "Take the medium sauce can with white lid using the left arm, set it next to the gray kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Use the left arm to pick the plastic lid sauce can, position it near the medium-sized kitchenpot",
+    "Take the sauce can to the gray kitchenpot using the left arm",
+    "Set the sauce can with sealed top near the cylindrical kitchenpot after picking it up",
+    "Using the left arm, lift the cylindrical sauce can and place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can, then move it next to the gray kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the smooth gray kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can, place it by the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the kitchenpot with smooth exterior",
+    "Set the sauce can with glossy finish right next to the metal kitchenpot",
+    "Place the yellow brown sauce can beside the medium-sized kitchenpot after picking it up",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Pick up the yellow brown sauce can and put it beside the metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the round kitchenpot with handles",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern and place it next to the kitchenpot for boiling and cooking",
+    "Place the sauce can next to the smooth gray kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the medium-sized kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the round kitchenpot with handles",
+    "Move the brown and yellow cylindrical sauce can beside the round kitchenpot with handles after lifting it",
+    "Lift the sauce can with sealed top and set it next to the metal kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode36.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the medium sauce can with white lid up with the left arm then place near the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to take the hand-sized sauce can to the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern and place it next to the smooth gray kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the medium kitchenpot made of metal",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Set the plastic lid sauce can right next to the metal kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the smooth gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the medium-sized kitchenpot",
+    "Move the hand-sized sauce can beside the cylindrical kitchenpot after lifting it",
+    "Lift the sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Set the plastic lid sauce can near the medium-sized kitchenpot after picking it up",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the gray cylindrical metal kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, place it near the gray kitchenpot",
+    "Move the sauce can with glossy finish to be next to the kitchenpot with smooth exterior",
+    "Place the round sauce can with yellow pattern beside the cylindrical kitchenpot after picking it up",
+    "Grab the plastic lid sauce can, move it, and place by the gray kitchenpot",
+    "Move the medium sauce can with white lid from its spot to near the gray kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the cylindrical kitchenpot",
+    "With the left arm, grab the sauce can with sealed top and move to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the sauce can and place it near the metal kitchenpot",
+    "Take the cylindrical sauce can to the dark gray stove kitchenpot using the left arm",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can and move it next to the medium-sized kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and position it by the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can, place it by the round kitchenpot with handles",
+    "Bring the white plastic lid sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, move it to the gray kitchenpot's side",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Lift the cylindrical sauce can and set it next to the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the kitchenpot with smooth exterior",
+    "Use the left arm to move the round sauce can with yellow pattern beside the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot with smooth exterior",
+    "Pick the medium sauce can with white lid and position it next to the cylindrical kitchenpot",
+    "Move the sauce can with glossy finish to the kitchenpot for boiling and cooking with the left arm",
+    "Use the left arm to pick the yellow brown sauce can, position it near the round kitchenpot with handles",
+    "Pick up the sauce can with glossy finish with the left arm and set by the cylindrical kitchenpot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the dark gray stove kitchenpot",
+    "Pick the sauce can up and move it next to the metal kitchenpot",
+    "Place the plastic lid sauce can next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the round kitchenpot with handles",
+    "Pick up the sauce can with glossy finish and put it beside the medium kitchenpot made of metal",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the cylindrical kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Lift the hand-sized sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to take the medium sauce can with white lid to the kitchenpot with smooth exterior",
+    "Lift the sauce can and place it next to the metal kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the cylindrical kitchenpot",
+    "Take the white plastic lid sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Pick the hand-sized sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and set it beside the kitchenpot with smooth exterior",
+    "Set the medium sauce can with white lid right next to the medium-sized kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the medium kitchenpot made of metal",
+    "Move the hand-sized sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Set the cylindrical sauce can near the round kitchenpot with handles after picking it up",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the cooking kitchenpot with side grips",
+    "Take the yellow brown sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Move the rounded-edge sauce can to be next to the metal kitchenpot",
+    "Place the rounded-edge sauce can beside the metal kitchenpot after picking it up",
+    "Grab the plastic lid sauce can, move it, and place by the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the gray kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Pick the sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can and place it near the metal kitchenpot",
+    "Take the medium sauce can with white lid to the kitchenpot with smooth exterior using the left arm",
+    "Grab the yellow brown sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the smooth gray kitchenpot",
+    "Lift the sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can, place it by the smooth gray kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Grab the plastic lid sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the round kitchenpot with handles's side",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the cylindrical kitchenpot",
+    "Lift the hand-sized sauce can and move it near the kitchenpot with smooth exterior",
+    "Use the left arm to move the white plastic lid sauce can beside the gray kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid and position it next to the cylindrical kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the smooth gray kitchenpot with the left arm",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with glossy finish with the left arm and set by the kitchenpot with smooth exterior",
+    "Using the left arm, lift the sauce can with sealed top and place it by the smooth gray kitchenpot",
+    "Use the left arm to pick the sauce can up and set it beside the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the dark gray stove kitchenpot",
+    "Place the plastic lid sauce can next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the cylindrical kitchenpot",
+    "Pick up the sauce can with sealed top and put it beside the medium-sized kitchenpot",
+    "Grab the sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode37.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the round sauce can with yellow pattern to be next to the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish and place it next to the cylindrical kitchenpot",
+    "Move the yellow brown sauce can to the medium kitchenpot made of metal with the left arm",
+    "Lift the round sauce can with yellow pattern and set it next to the gray kitchenpot",
+    "Grab the white plastic lid sauce can and move it close to the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid using the left arm and position it by the gray kitchenpot",
+    "Pick up the medium sauce can with white lid with the left arm and set by the gray kitchenpot",
+    "Move the hand-sized sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Use the left arm to pick the sauce can, position it near the cylindrical kitchenpot",
+    "Pick the rounded-edge sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Lift the sauce can and set it next to the smooth gray kitchenpot",
+    "Move the sauce can with sealed top from its spot to near the gray kitchenpot",
+    "Pick the sauce can with sealed top and position it next to the metal kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it near the smooth gray kitchenpot",
+    "With the left arm, grab the plastic lid sauce can and move to the cylindrical kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the metal kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the kitchenpot with smooth exterior",
+    "Bring the hand-sized sauce can over and set it near the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can and move it near the medium-sized kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the medium-sized kitchenpot",
+    "Use the left arm to take the yellow brown sauce can to the cooking kitchenpot with side grips",
+    "Set the sauce can near the dark gray stove kitchenpot after picking it up",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top, move it to the dark gray stove kitchenpot's side",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Take the white plastic lid sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish and set it beside the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can, place it by the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the cooking kitchenpot with side grips",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the metal kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Pick up the white plastic lid sauce can and put it beside the cooking kitchenpot with side grips",
+    "Take the sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Grab the sauce can with glossy finish with the left arm and set it near the dark gray stove kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish up with the left arm then place near the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the metal kitchenpot",
+    "Set the white plastic lid sauce can right next to the medium kitchenpot made of metal",
+    "Take the hand-sized sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the medium kitchenpot made of metal",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Place the plastic lid sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Place the sauce can with sealed top next to the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Pick the yellow brown sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the dark gray stove kitchenpot",
+    "Move the sauce can with glossy finish to be next to the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid and place it next to the kitchenpot for boiling and cooking",
+    "Move the cylindrical sauce can to the metal kitchenpot with the left arm",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Grab the hand-sized sauce can and move it close to the round kitchenpot with handles",
+    "Lift the sauce can with sealed top using the left arm and position it by the round kitchenpot with handles",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Move the brown and yellow cylindrical sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the cooking kitchenpot with side grips",
+    "Move the plastic lid sauce can from its spot to near the dark gray stove kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the dark gray stove kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the cooking kitchenpot with side grips",
+    "With the left arm, grab the rounded-edge sauce can and move to the round kitchenpot with handles",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it next to the medium-sized kitchenpot",
+    "Bring the cylindrical sauce can over and set it near the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and move it near the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the metal kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the kitchenpot with smooth exterior",
+    "Set the yellow brown sauce can near the metal kitchenpot after picking it up",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the metal kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish, move it to the gray cylindrical metal kitchenpot's side",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and set it beside the smooth gray kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the medium-sized kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can, then place it next to the dark gray stove kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the round kitchenpot with handles",
+    "Take the sauce can with sealed top to the gray cylindrical metal kitchenpot using the left arm",
+    "Grab the hand-sized sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the metal kitchenpot",
+    "Set the cylindrical sauce can right next to the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can with the left arm, place it near the metal kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the gray kitchenpot",
+    "Place the hand-sized sauce can beside the cylindrical kitchenpot after picking it up",
+    "Place the sauce can with glossy finish next to the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to move the round sauce can with yellow pattern beside the cooking kitchenpot with side grips",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the gray kitchenpot",
+    "Pick the plastic lid sauce can up and move it next to the metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode38.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, lift the yellow brown sauce can and place it by the gray kitchenpot",
+    "Place the hand-sized sauce can beside the round kitchenpot with handles after picking it up",
+    "Use the left arm to lift the hand-sized sauce can and place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the cylindrical sauce can, position it near the cylindrical kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the metal kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top, then place it next to the smooth gray kitchenpot",
+    "Lift the sauce can with sealed top and set it beside the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the round kitchenpot with handles",
+    "Take the plastic lid sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the medium-sized kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot with smooth exterior",
+    "Take the cylindrical sauce can with the left arm, place it near the metal kitchenpot",
+    "Set the white plastic lid sauce can right next to the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can, move it, and place by the smooth gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the cylindrical kitchenpot with the left arm",
+    "Take the plastic lid sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Move the rounded-edge sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Set the brown and yellow cylindrical sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Lift the sauce can and set it next to the kitchenpot with smooth exterior",
+    "With the left arm, grab the plastic lid sauce can and move to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the smooth gray kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Pick the sauce can with glossy finish up and carefully position it beside the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can, shift it, and place it close to the metal kitchenpot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the round kitchenpot with handles",
+    "Place the sauce can with sealed top next to the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to move the cylindrical sauce can beside the round kitchenpot with handles",
+    "Move the hand-sized sauce can beside the smooth gray kitchenpot after lifting it",
+    "Lift the sauce can with glossy finish and move it near the cooking kitchenpot with side grips",
+    "Pick up the sauce can with sealed top and put it beside the medium-sized kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the gray kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish, place it by the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Pick the white plastic lid sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Use the left arm to take the cylindrical sauce can to the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the cylindrical kitchenpot",
+    "Move the plastic lid sauce can to be next to the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid, move it to the medium-sized kitchenpot's side",
+    "Pick the hand-sized sauce can up and move it next to the smooth gray kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Place the yellow brown sauce can beside the cylindrical kitchenpot after picking it up",
+    "Use the left arm to lift the plastic lid sauce can and place it near the metal kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the cylindrical kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern, then place it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish and set it beside the kitchenpot with smooth exterior",
+    "Grab the yellow brown sauce can with the left arm and position it beside the gray kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and transfer it near the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Take the medium sauce can with white lid to the kitchenpot for boiling and cooking using the left arm",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the medium kitchenpot made of metal",
+    "Take the cylindrical sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Set the hand-sized sauce can right next to the dark gray stove kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the round kitchenpot with handles",
+    "Move the plastic lid sauce can to the metal kitchenpot with the left arm",
+    "Take the sauce can with glossy finish using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Move the sauce can from its spot to near the gray kitchenpot",
+    "Set the medium sauce can with white lid near the medium kitchenpot made of metal after picking it up",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the medium-sized kitchenpot",
+    "Lift the sauce can and set it next to the cooking kitchenpot with side grips",
+    "With the left arm, grab the hand-sized sauce can and move to the metal kitchenpot",
+    "Use the left arm to pick the rounded-edge sauce can up and set it beside the round kitchenpot with handles",
+    "Pick up the cylindrical sauce can with the left arm and set by the round kitchenpot with handles",
+    "Pick the sauce can with glossy finish up and carefully position it beside the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the gray kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the dark gray stove kitchenpot",
+    "Place the sauce can with sealed top next to the medium kitchenpot made of metal",
+    "Grab the sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to move the white plastic lid sauce can beside the medium kitchenpot made of metal",
+    "Move the sauce can with sealed top beside the gray kitchenpot after lifting it",
+    "Lift the cylindrical sauce can and move it near the smooth gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the metal kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the cooking kitchenpot with side grips",
+    "Lift the sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the gray kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the dark gray stove kitchenpot",
+    "Pick the rounded-edge sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Use the left arm to take the white plastic lid sauce can to the gray kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the cooking kitchenpot with side grips",
+    "Move the yellow brown sauce can to be next to the gray kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Pick the rounded-edge sauce can up and move it next to the smooth gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode39.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the white plastic lid sauce can to be next to the cooking kitchenpot with side grips",
+    "Take the rounded-edge sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Take the white plastic lid sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Lift the cylindrical sauce can, place it by the cylindrical kitchenpot",
+    "With the left arm, grab the plastic lid sauce can and move to the gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the gray kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and set it beside the kitchenpot with smooth exterior",
+    "Pick up the plastic lid sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern and place it next to the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can, move it to the medium kitchenpot made of metal's side",
+    "Move the white plastic lid sauce can from its spot to near the medium kitchenpot made of metal",
+    "Lift the sauce can using the left arm and position it by the gray kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Pick the hand-sized sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Place the cylindrical sauce can beside the smooth gray kitchenpot after picking it up",
+    "Place the white plastic lid sauce can next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Move the rounded-edge sauce can beside the medium-sized kitchenpot after lifting it",
+    "Pick the plastic lid sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Pick the medium sauce can with white lid and position it next to the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can, move it, and place by the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid and set it next to the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and move it near the gray kitchenpot",
+    "Move the round sauce can with yellow pattern to the cylindrical kitchenpot with the left arm",
+    "Grab the sauce can with sealed top with the left arm and set it near the gray kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the round kitchenpot with handles",
+    "Use the left arm to take the yellow brown sauce can to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Bring the rounded-edge sauce can over and set it near the cylindrical kitchenpot",
+    "Set the round sauce can with yellow pattern near the kitchenpot for boiling and cooking after picking it up",
+    "Grab the cylindrical sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Pick up the sauce can and put it beside the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Set the round sauce can with yellow pattern right next to the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the cylindrical kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the medium kitchenpot made of metal",
+    "Use the left arm to move the round sauce can with yellow pattern beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can, then move it next to the medium-sized kitchenpot",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the cylindrical kitchenpot",
+    "Move the yellow brown sauce can to be next to the round kitchenpot with handles",
+    "Take the rounded-edge sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the dark gray stove kitchenpot",
+    "Take the white plastic lid sauce can to the gray kitchenpot using the left arm",
+    "Lift the sauce can with sealed top, place it by the cylindrical kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top up and move it next to the kitchenpot for boiling and cooking",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Use the left arm to pick the cylindrical sauce can, position it near the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish and set it beside the cylindrical kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Lift the sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can and place it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and place it next to the kitchenpot with smooth exterior",
+    "Grab the white plastic lid sauce can, move it to the round kitchenpot with handles's side",
+    "Move the medium sauce can with white lid from its spot to near the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the medium kitchenpot made of metal",
+    "Lift the sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the gray kitchenpot",
+    "Place the sauce can with sealed top beside the kitchenpot with smooth exterior after picking it up",
+    "Place the white plastic lid sauce can next to the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the medium kitchenpot made of metal",
+    "Move the plastic lid sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Pick the white plastic lid sauce can up with the left arm then place near the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the gray kitchenpot",
+    "Grab the sauce can, move it, and place by the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the gray kitchenpot",
+    "Move the cylindrical sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the medium-sized kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Use the left arm to take the white plastic lid sauce can to the cylindrical kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the cylindrical kitchenpot",
+    "Bring the sauce can over and set it near the gray kitchenpot",
+    "Set the plastic lid sauce can near the cylindrical kitchenpot after picking it up",
+    "Grab the cylindrical sauce can and move it close to the kitchenpot with smooth exterior",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the gray kitchenpot",
+    "Take the cylindrical sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the cooking kitchenpot with side grips",
+    "Set the plastic lid sauce can right next to the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the medium kitchenpot made of metal",
+    "Use the left arm to move the hand-sized sauce can beside the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the gray kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the sauce can and place it by the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the dark gray stove kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, place it near the gray kitchenpot",
+    "Move the hand-sized sauce can beside the cylindrical kitchenpot after lifting it",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the cylindrical sauce can, position it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the medium-sized kitchenpot",
+    "Place the sauce can next to the metal kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the dark gray stove kitchenpot",
+    "Lift the sauce can and set it next to the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Take the rounded-edge sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Move the brown and yellow cylindrical sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the cooking kitchenpot with side grips",
+    "Bring the white plastic lid sauce can over and set it near the medium-sized kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the metal kitchenpot",
+    "Lift the yellow brown sauce can, place it by the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top, move it, and place by the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the gray kitchenpot",
+    "Use the left arm to take the cylindrical sauce can to the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the round kitchenpot with handles",
+    "Place the yellow brown sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Pick the round sauce can with yellow pattern up and move it next to the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can near the medium-sized kitchenpot after picking it up",
+    "Set the round sauce can with yellow pattern right next to the kitchenpot with smooth exterior",
+    "Pick the yellow brown sauce can and position it next to the dark gray stove kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the kitchenpot with smooth exterior",
+    "Pick up the round sauce can with yellow pattern with the left arm and set by the smooth gray kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the medium-sized kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the dark gray stove kitchenpot's side",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can and set it beside the gray kitchenpot",
+    "Move the cylindrical sauce can to be next to the smooth gray kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the cooking kitchenpot with side grips",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the metal kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the round kitchenpot with handles",
+    "Take the plastic lid sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Pick up the hand-sized sauce can and put it beside the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the kitchenpot with smooth exterior",
+    "Pick the hand-sized sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can, then place it next to the dark gray stove kitchenpot",
+    "Take the cylindrical sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Move the hand-sized sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Pick the yellow brown sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the yellow brown sauce can and place it by the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Use the left arm to pick the hand-sized sauce can, position it near the cooking kitchenpot with side grips",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the medium-sized kitchenpot",
+    "Place the round sauce can with yellow pattern next to the cylindrical kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top and move it near the metal kitchenpot",
+    "Bring the round sauce can with yellow pattern over and set it near the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern, place it by the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Lift the sauce can and set it next to the medium kitchenpot made of metal",
+    "Use the left arm to take the white plastic lid sauce can to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top and move it close to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the gray kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can up and set it beside the medium-sized kitchenpot",
+    "Place the hand-sized sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Pick the sauce can up and move it next to the medium-sized kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Set the yellow brown sauce can near the medium-sized kitchenpot after picking it up",
+    "Set the sauce can with sealed top right next to the cooking kitchenpot with side grips",
+    "Pick the sauce can with sealed top and position it next to the round kitchenpot with handles",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "With the left arm, grab the cylindrical sauce can and move to the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can, move it to the medium kitchenpot made of metal's side",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid and set it beside the metal kitchenpot",
+    "Move the sauce can with glossy finish to be next to the cylindrical kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the metal kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the cylindrical kitchenpot",
+    "Take the yellow brown sauce can to the medium-sized kitchenpot using the left arm",
+    "Pick up the rounded-edge sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the gray kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode40.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the cooking kitchenpot with side grips",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can with the left arm and set it near the metal kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the medium kitchenpot made of metal",
+    "Using the left arm, lift the hand-sized sauce can and place it by the round kitchenpot with handles",
+    "Place the sauce can next to the dark gray stove kitchenpot",
+    "Move the plastic lid sauce can from its spot to near the round kitchenpot with handles",
+    "Use the left arm to move the sauce can with sealed top beside the kitchenpot for boiling and cooking",
+    "Take the rounded-edge sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and place it next to the gray kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top using the left arm and position it by the medium-sized kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and set it next to the metal kitchenpot",
+    "Pick the sauce can with glossy finish and position it next to the gray cylindrical metal kitchenpot",
+    "Move the plastic lid sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Grab the round sauce can with yellow pattern and move it close to the cooking kitchenpot with side grips",
+    "Use the left arm to take the white plastic lid sauce can to the medium kitchenpot made of metal",
+    "Set the yellow brown sauce can right next to the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Take the sauce can with sealed top with the left arm, place it near the round kitchenpot with handles",
+    "Grab the hand-sized sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Lift the sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can and place it near the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the kitchenpot with smooth exterior",
+    "Place the sauce can with sealed top beside the kitchenpot with smooth exterior after picking it up",
+    "Pick up the sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Grab the yellow brown sauce can, move it, and place by the gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the gray kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the cooking kitchenpot with side grips",
+    "Take the sauce can with glossy finish to the round kitchenpot with handles using the left arm",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the kitchenpot with smooth exterior",
+    "Pick the plastic lid sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the metal kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid, move it to the kitchenpot with smooth exterior's side",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the smooth gray kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the dark gray stove kitchenpot",
+    "Move the plastic lid sauce can to be next to the kitchenpot for boiling and cooking",
+    "Set the round sauce can with yellow pattern near the dark gray stove kitchenpot after picking it up",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and set it beside the kitchenpot with smooth exterior",
+    "Pick up the sauce can with sealed top with the left arm and set by the dark gray stove kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the smooth gray kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern and move it near the metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the round kitchenpot with handles",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the cooking kitchenpot with side grips",
+    "Place the sauce can next to the kitchenpot with smooth exterior",
+    "Move the sauce can with glossy finish from its spot to near the medium kitchenpot made of metal",
+    "Use the left arm to move the plastic lid sauce can beside the metal kitchenpot",
+    "Take the plastic lid sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Lift the sauce can and place it next to the kitchenpot with smooth exterior",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can using the left arm and position it by the gray kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the kitchenpot with smooth exterior",
+    "Lift the rounded-edge sauce can and set it next to the gray kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the gray kitchenpot",
+    "Move the white plastic lid sauce can to the kitchenpot for boiling and cooking with the left arm",
+    "Grab the yellow brown sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to take the cylindrical sauce can to the cylindrical kitchenpot",
+    "Set the cylindrical sauce can right next to the metal kitchenpot",
+    "Move the sauce can beside the medium-sized kitchenpot after lifting it",
+    "Take the plastic lid sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Grab the yellow brown sauce can with the left arm and position it beside the gray kitchenpot",
+    "Lift the yellow brown sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can, place it by the dark gray stove kitchenpot",
+    "Place the rounded-edge sauce can beside the metal kitchenpot after picking it up",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can, move it, and place by the medium-sized kitchenpot",
+    "Pick up the sauce can with glossy finish and put it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the medium-sized kitchenpot",
+    "Take the sauce can with glossy finish to the smooth gray kitchenpot using the left arm",
+    "With the left arm, grab the yellow brown sauce can and move to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid up with the left arm then place near the gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the dark gray stove kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the kitchenpot with smooth exterior",
+    "Pick the sauce can up and move it next to the metal kitchenpot",
+    "Move the cylindrical sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Set the hand-sized sauce can near the medium kitchenpot made of metal after picking it up",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern and set it beside the round kitchenpot with handles",
+    "Pick up the sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the kitchenpot for boiling and cooking"
+  ],
+  "unseen": [
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode41.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the plastic lid sauce can and move it next to the medium-sized kitchenpot",
+    "Move the round sauce can with yellow pattern to be next to the gray kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the round kitchenpot with handles",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the round kitchenpot with handles",
+    "Pick the medium sauce can with white lid and position it next to the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the medium-sized kitchenpot",
+    "Set the round sauce can with yellow pattern near the dark gray stove kitchenpot after picking it up",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Take the hand-sized sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to move the cylindrical sauce can beside the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top with the left arm and position it beside the gray kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the medium kitchenpot made of metal",
+    "With the left arm, grab the sauce can and move to the gray kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can beside the medium-sized kitchenpot after lifting it",
+    "Use the left arm to take the rounded-edge sauce can to the smooth gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Grab the sauce can, move it to the smooth gray kitchenpot's side",
+    "Lift the sauce can with glossy finish using the left arm and position it by the medium-sized kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the gray kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can, move it beside the cylindrical kitchenpot",
+    "Take the sauce can with glossy finish to the dark gray stove kitchenpot using the left arm",
+    "Place the yellow brown sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Lift the round sauce can with yellow pattern and place it next to the cylindrical kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the gray kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the cooking kitchenpot with side grips",
+    "Move the medium sauce can with white lid from its spot to near the medium-sized kitchenpot",
+    "Set the sauce can with sealed top right next to the metal kitchenpot",
+    "Lift the hand-sized sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Pick the sauce can up and move it next to the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can, place it by the dark gray stove kitchenpot",
+    "Place the medium sauce can with white lid next to the kitchenpot for boiling and cooking",
+    "Take the cylindrical sauce can with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with glossy finish with the left arm and set by the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish, move it, and place by the kitchenpot for boiling and cooking",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the medium-sized kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the rounded-edge sauce can and move it next to the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top to be next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top and set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the smooth gray kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and set it next to the cooking kitchenpot with side grips",
+    "Set the plastic lid sauce can near the medium kitchenpot made of metal after picking it up",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the metal kitchenpot",
+    "Grab the yellow brown sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can, then move it next to the gray kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the dark gray stove kitchenpot",
+    "Move the hand-sized sauce can to the medium kitchenpot made of metal with the left arm",
+    "Take the cylindrical sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Pick up the cylindrical sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the dark gray stove kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the cooking kitchenpot with side grips",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Pick the yellow brown sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Move the plastic lid sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Use the left arm to take the sauce can with glossy finish to the dark gray stove kitchenpot",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can, move it to the cylindrical kitchenpot's side",
+    "Lift the sauce can with sealed top using the left arm and position it by the medium-sized kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the plastic lid sauce can, position it near the cylindrical kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the medium-sized kitchenpot",
+    "Take the sauce can with sealed top to the cooking kitchenpot with side grips using the left arm",
+    "Place the cylindrical sauce can beside the round kitchenpot with handles after picking it up",
+    "Lift the yellow brown sauce can and place it next to the medium kitchenpot made of metal",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can, then place it next to the gray kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the smooth gray kitchenpot",
+    "Set the sauce can with sealed top right next to the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and move it near the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with sealed top and place it near the round kitchenpot with handles",
+    "Pick the hand-sized sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Lift the white plastic lid sauce can, place it by the smooth gray kitchenpot",
+    "Place the cylindrical sauce can next to the round kitchenpot with handles",
+    "Take the hand-sized sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the metal kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Grab the sauce can with sealed top with the left arm and move it close to the smooth gray kitchenpot",
+    "Bring the white plastic lid sauce can over and set it near the cooking kitchenpot with side grips",
+    "Using the left arm, lift the sauce can with sealed top and place it by the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode42.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the medium sauce can with white lid beside the cooking kitchenpot with side grips after picking it up",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Move the rounded-edge sauce can to be next to the cylindrical kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the round kitchenpot with handles",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the metal kitchenpot",
+    "Place the round sauce can with yellow pattern next to the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish with the left arm and set it near the kitchenpot with smooth exterior",
+    "Pick the plastic lid sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Take the plastic lid sauce can using the left arm, set it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can, place it by the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the round kitchenpot with handles",
+    "Move the sauce can with sealed top to the cooking kitchenpot with side grips with the left arm",
+    "Grab the cylindrical sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Bring the yellow brown sauce can over and set it near the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the metal kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the medium-sized kitchenpot",
+    "Set the sauce can right next to the round kitchenpot with handles",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the gray kitchenpot",
+    "Pick up the plastic lid sauce can and put it beside the kitchenpot with smooth exterior",
+    "Move the white plastic lid sauce can beside the medium-sized kitchenpot after lifting it",
+    "Use the left arm to move the plastic lid sauce can beside the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top and position it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the plastic lid sauce can, position it near the cooking kitchenpot with side grips",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Grab the rounded-edge sauce can, move it to the round kitchenpot with handles's side",
+    "Use the left arm to lift the plastic lid sauce can and place it near the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can, then place it next to the cylindrical kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the round kitchenpot with handles",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the round kitchenpot with handles",
+    "Lift the sauce can with glossy finish using the left arm and position it by the medium kitchenpot made of metal",
+    "Move the white plastic lid sauce can from its spot to near the dark gray stove kitchenpot",
+    "Pick up the sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Take the medium sauce can with white lid to the gray kitchenpot using the left arm",
+    "Pick the medium sauce can with white lid up with the left arm then place near the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and set it beside the medium kitchenpot made of metal",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top and move it near the cooking kitchenpot with side grips",
+    "Set the hand-sized sauce can near the gray kitchenpot after picking it up",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the round kitchenpot with handles",
+    "Lift the hand-sized sauce can and set it next to the round kitchenpot with handles",
+    "Pick up the yellow brown sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Use the left arm to take the plastic lid sauce can to the smooth gray kitchenpot",
+    "Place the plastic lid sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Move the rounded-edge sauce can to be next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can, move it beside the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern and move it close to the smooth gray kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Place the sauce can with sealed top next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish with the left arm and set it near the smooth gray kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the round kitchenpot with handles",
+    "Lift the cylindrical sauce can, place it by the dark gray stove kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the round kitchenpot with handles",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Move the sauce can to the cylindrical kitchenpot with the left arm",
+    "Grab the yellow brown sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Bring the round sauce can with yellow pattern over and set it near the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the round kitchenpot with handles",
+    "Pick the sauce can up and move it next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Set the sauce can with sealed top right next to the cylindrical kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Pick up the white plastic lid sauce can and put it beside the smooth gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the round kitchenpot with handles after lifting it",
+    "Use the left arm to move the rounded-edge sauce can beside the smooth gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the gray kitchenpot",
+    "Take the white plastic lid sauce can with the left arm, place it near the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can, move it to the gray kitchenpot's side",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the gray kitchenpot",
+    "Lift the sauce can with sealed top, then place it next to the medium-sized kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the metal kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the kitchenpot for boiling and cooking",
+    "Lift the sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Move the white plastic lid sauce can from its spot to near the round kitchenpot with handles",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Take the plastic lid sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Pick the plastic lid sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and place it next to the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the kitchenpot for boiling and cooking",
+    "Set the sauce can near the round kitchenpot with handles after picking it up",
+    "Use the left arm to pick the sauce can up and set it beside the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the cylindrical kitchenpot",
+    "Pick up the sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Use the left arm to take the cylindrical sauce can to the gray cylindrical metal kitchenpot"
+  ],
+  "unseen": [
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode43.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to move the plastic lid sauce can beside the medium kitchenpot made of metal",
+    "Pick up the medium sauce can with white lid with the left arm and set by the smooth gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the round kitchenpot with handles",
+    "Use the left arm to take the rounded-edge sauce can to the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the gray kitchenpot",
+    "Lift the sauce can and set it next to the metal kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can, then place it next to the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can and move it near the dark gray stove kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the round kitchenpot with handles",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid from its spot to near the metal kitchenpot",
+    "Move the sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Set the sauce can with sealed top right next to the smooth gray kitchenpot",
+    "Bring the rounded-edge sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and set it beside the gray kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the gray kitchenpot's side",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the kitchenpot for boiling and cooking",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Grab the sauce can with glossy finish, move it, and place by the medium-sized kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it near the kitchenpot for boiling and cooking",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the sauce can and move to the cooking kitchenpot with side grips",
+    "Move the hand-sized sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Lift the plastic lid sauce can using the left arm and position it by the gray kitchenpot",
+    "Pick up the cylindrical sauce can and put it beside the medium kitchenpot made of metal",
+    "Place the sauce can next to the gray cylindrical metal kitchenpot",
+    "Place the sauce can beside the gray kitchenpot after picking it up",
+    "Lift the sauce can with sealed top and set it next to the medium kitchenpot made of metal",
+    "Pick the sauce can with sealed top up and carefully position it beside the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Using the left arm, lift the hand-sized sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Move the sauce can to be next to the medium-sized kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the medium-sized kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Take the yellow brown sauce can to the medium-sized kitchenpot using the left arm",
+    "Use the left arm to grab the white plastic lid sauce can, move it beside the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Set the round sauce can with yellow pattern near the medium kitchenpot made of metal after picking it up",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top, place it by the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the metal kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the dark gray stove kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the dark gray stove kitchenpot",
+    "Pick the round sauce can with yellow pattern and position it next to the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with glossy finish, then place it next to the medium-sized kitchenpot",
+    "Lift the sauce can and move it near the smooth gray kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Move the sauce can with glossy finish from its spot to near the smooth gray kitchenpot",
+    "Move the cylindrical sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Set the round sauce can with yellow pattern right next to the gray kitchenpot",
+    "Bring the cylindrical sauce can over and set it near the gray kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the round kitchenpot with handles",
+    "Lift the sauce can and set it beside the cooking kitchenpot with side grips",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Grab the brown and yellow cylindrical sauce can, move it to the cylindrical kitchenpot's side",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the kitchenpot with smooth exterior",
+    "Pick the yellow brown sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Grab the sauce can, move it, and place by the gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the round kitchenpot with handles",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the cylindrical kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the smooth gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the smooth gray kitchenpot after lifting it",
+    "Lift the yellow brown sauce can using the left arm and position it by the cooking kitchenpot with side grips",
+    "Pick up the sauce can and put it beside the cooking kitchenpot with side grips",
+    "Place the sauce can next to the cooking kitchenpot with side grips",
+    "Place the plastic lid sauce can beside the medium kitchenpot made of metal after picking it up",
+    "Lift the cylindrical sauce can and set it next to the medium kitchenpot made of metal",
+    "Pick the rounded-edge sauce can up and carefully position it beside the gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the medium kitchenpot made of metal",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Take the medium sauce can with white lid with the left arm, place it near the medium-sized kitchenpot",
+    "Grab the sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the cylindrical kitchenpot using the left arm",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with glossy finish and place it next to the dark gray stove kitchenpot",
+    "Set the plastic lid sauce can near the cylindrical kitchenpot after picking it up",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can, place it by the medium-sized kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode44.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow brown sauce can and set it beside the gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Move the medium sauce can with white lid beside the kitchenpot for boiling and cooking after lifting it",
+    "Lift the brown and yellow cylindrical sauce can, place it by the medium-sized kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the metal kitchenpot's side",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the kitchenpot for boiling and cooking",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid using the left arm and position it by the medium kitchenpot made of metal",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the kitchenpot with smooth exterior",
+    "Bring the hand-sized sauce can over and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the medium-sized kitchenpot",
+    "Place the plastic lid sauce can next to the kitchenpot for boiling and cooking",
+    "Lift the yellow brown sauce can and set it next to the medium-sized kitchenpot",
+    "Move the round sauce can with yellow pattern to the cylindrical kitchenpot with the left arm",
+    "Move the yellow brown sauce can to be next to the medium-sized kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the medium kitchenpot made of metal",
+    "Grab the sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the smooth gray kitchenpot",
+    "Take the sauce can with glossy finish to the gray cylindrical metal kitchenpot using the left arm",
+    "Grab the sauce can with sealed top, shift it, and place it close to the metal kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the round kitchenpot with handles",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the cooking kitchenpot with side grips",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the metal kitchenpot",
+    "Place the medium sauce can with white lid beside the round kitchenpot with handles after picking it up",
+    "Move the sauce can with sealed top from its spot to near the kitchenpot with smooth exterior",
+    "Take the yellow brown sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Use the left arm to move the rounded-edge sauce can beside the kitchenpot with smooth exterior",
+    "Pick the sauce can with glossy finish up and carefully position it beside the medium kitchenpot made of metal",
+    "Pick the sauce can up with the left arm then place near the round kitchenpot with handles",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the round kitchenpot with handles",
+    "Lift the cylindrical sauce can, then place it next to the smooth gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the dark gray stove kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the metal kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish and move it close to the cooking kitchenpot with side grips",
+    "Use the left arm to take the plastic lid sauce can to the cooking kitchenpot with side grips",
+    "Set the yellow brown sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Set the yellow brown sauce can right next to the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Lift the plastic lid sauce can and move it near the cooking kitchenpot with side grips",
+    "Pick the sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with white lid with the left arm and set it near the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can and set it beside the cooking kitchenpot with side grips",
+    "Pick up the sauce can with sealed top with the left arm and set by the cooking kitchenpot with side grips",
+    "Move the white plastic lid sauce can beside the kitchenpot for boiling and cooking after lifting it",
+    "Lift the cylindrical sauce can, place it by the cooking kitchenpot with side grips",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the medium-sized kitchenpot",
+    "Grab the sauce can, move it to the medium-sized kitchenpot's side",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the cylindrical kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the medium kitchenpot made of metal",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the smooth gray kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the metal kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Place the round sauce can with yellow pattern next to the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern and set it next to the kitchenpot with smooth exterior",
+    "Move the hand-sized sauce can to the gray kitchenpot with the left arm",
+    "Move the plastic lid sauce can to be next to the gray kitchenpot",
+    "Pick up the yellow brown sauce can and put it beside the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the kitchenpot with smooth exterior",
+    "Take the yellow brown sauce can to the dark gray stove kitchenpot using the left arm",
+    "Grab the hand-sized sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the cooking kitchenpot with side grips",
+    "Pick the sauce can with the left arm and relocate it near the kitchenpot with smooth exterior",
+    "Place the medium sauce can with white lid beside the metal kitchenpot after picking it up",
+    "Move the medium sauce can with white lid from its spot to near the cooking kitchenpot with side grips",
+    "Take the yellow brown sauce can using the left arm, set it next to the round kitchenpot with handles",
+    "Use the left arm to move the sauce can with sealed top beside the gray kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the medium-sized kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can, then place it next to the gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the round kitchenpot with handles",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the medium-sized kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the smooth gray kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to take the cylindrical sauce can to the metal kitchenpot",
+    "Set the sauce can near the medium-sized kitchenpot after picking it up",
+    "Set the yellow brown sauce can right next to the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid and place it next to the gray kitchenpot",
+    "Lift the hand-sized sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Pick the white plastic lid sauce can up and move it next to the gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and set it near the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode45.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the smooth gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the metal kitchenpot",
+    "Lift the medium sauce can with white lid, place it by the metal kitchenpot",
+    "Use the left arm to take the yellow brown sauce can to the kitchenpot with smooth exterior",
+    "Take the white plastic lid sauce can with the left arm, place it near the round kitchenpot with handles",
+    "With the left arm, grab the rounded-edge sauce can and move to the round kitchenpot with handles",
+    "Grab the sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the smooth gray kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid and place it next to the kitchenpot for boiling and cooking",
+    "Bring the sauce can with glossy finish over and set it near the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the dark gray stove kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the medium-sized kitchenpot",
+    "Lift the sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with sealed top and move it near the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can, move it, and place by the metal kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can, move it to the cylindrical kitchenpot's side",
+    "Use the left arm to lift the rounded-edge sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Take the round sauce can with yellow pattern to the gray kitchenpot using the left arm",
+    "Place the plastic lid sauce can next to the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the round kitchenpot with handles",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the medium-sized kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Pick up the hand-sized sauce can and put it beside the smooth gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Place the sauce can with glossy finish beside the gray kitchenpot after picking it up",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the round kitchenpot with handles",
+    "Grab the yellow brown sauce can and move it close to the kitchenpot with smooth exterior",
+    "Move the sauce can with glossy finish beside the cooking kitchenpot with side grips after lifting it",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the medium kitchenpot made of metal",
+    "Pick the white plastic lid sauce can up and move it next to the round kitchenpot with handles",
+    "Move the rounded-edge sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Lift the cylindrical sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the medium-sized kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the medium kitchenpot made of metal",
+    "Move the sauce can with sealed top to be next to the metal kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and set it near the dark gray stove kitchenpot",
+    "Set the sauce can with glossy finish right next to the metal kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the cooking kitchenpot with side grips",
+    "Set the hand-sized sauce can near the round kitchenpot with handles after picking it up",
+    "Pick up the cylindrical sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the gray kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the medium kitchenpot made of metal",
+    "Use the left arm to move the white plastic lid sauce can beside the kitchenpot with smooth exterior",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the gray kitchenpot",
+    "Lift the sauce can with sealed top, place it by the medium-sized kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the gray cylindrical metal kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the cylindrical kitchenpot",
+    "With the left arm, grab the sauce can and move to the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top, shift it, and place it close to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it beside the smooth gray kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and place it next to the gray kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the kitchenpot with smooth exterior",
+    "Lift the sauce can and set it next to the cooking kitchenpot with side grips",
+    "Pick the sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the kitchenpot with smooth exterior",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the metal kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can and move it near the gray kitchenpot",
+    "Grab the sauce can, move it, and place by the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can, move it to the smooth gray kitchenpot's side",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the cylindrical kitchenpot",
+    "Take the yellow brown sauce can to the medium kitchenpot made of metal using the left arm",
+    "Place the medium sauce can with white lid next to the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the round kitchenpot with handles",
+    "Lift the sauce can with sealed top using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the metal kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Pick up the cylindrical sauce can and put it beside the kitchenpot with smooth exterior",
+    "Move the plastic lid sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Place the plastic lid sauce can beside the metal kitchenpot after picking it up",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can and move it close to the medium-sized kitchenpot",
+    "Move the yellow brown sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Use the left arm to pick the yellow brown sauce can, position it near the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the cooking kitchenpot with side grips",
+    "Move the hand-sized sauce can to the cylindrical kitchenpot with the left arm",
+    "Lift the sauce can, then place it next to the gray kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the cylindrical kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the round kitchenpot with handles",
+    "Move the cylindrical sauce can to be next to the round kitchenpot with handles",
+    "Grab the yellow brown sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Set the cylindrical sauce can right next to the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the kitchenpot with smooth exterior",
+    "Set the medium sauce can with white lid near the medium kitchenpot made of metal after picking it up",
+    "Pick up the sauce can with sealed top with the left arm and set by the medium kitchenpot made of metal",
+    "Grab the plastic lid sauce can with the left arm and position it beside the metal kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and move it close to the gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode46.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the sauce can with the left arm and relocate it near the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Bring the round sauce can with yellow pattern over and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can up and set it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the smooth gray kitchenpot",
+    "Move the round sauce can with yellow pattern from its spot to near the gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the smooth gray kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the smooth gray kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish, move it, and place by the cylindrical kitchenpot",
+    "Place the white plastic lid sauce can beside the medium-sized kitchenpot after picking it up",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can and place it next to the smooth gray kitchenpot",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the cylindrical kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the cooking kitchenpot with side grips",
+    "Place the plastic lid sauce can next to the kitchenpot for boiling and cooking",
+    "Take the hand-sized sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Use the left arm to move the sauce can with sealed top beside the medium kitchenpot made of metal",
+    "Set the round sauce can with yellow pattern near the medium-sized kitchenpot after picking it up",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the metal kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and move it close to the metal kitchenpot",
+    "Use the left arm to pick the hand-sized sauce can, position it near the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the round kitchenpot with handles",
+    "Grab the yellow brown sauce can and move it close to the dark gray stove kitchenpot",
+    "Pick up the sauce can with sealed top with the left arm and set by the dark gray stove kitchenpot",
+    "Move the sauce can with glossy finish to the dark gray stove kitchenpot with the left arm",
+    "Pick the plastic lid sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Lift the sauce can with sealed top and set it next to the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the cooking kitchenpot with side grips",
+    "Pick up the yellow brown sauce can and put it beside the dark gray stove kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the medium kitchenpot made of metal",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the smooth gray kitchenpot",
+    "With the left arm, grab the hand-sized sauce can and move to the smooth gray kitchenpot",
+    "Grab the plastic lid sauce can, move it to the dark gray stove kitchenpot's side",
+    "Take the cylindrical sauce can to the cylindrical kitchenpot using the left arm",
+    "Pick the medium sauce can with white lid up with the left arm then place near the cylindrical kitchenpot",
+    "Move the round sauce can with yellow pattern beside the metal kitchenpot after lifting it",
+    "Use the left arm to take the sauce can with sealed top to the cylindrical kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can using the left arm and position it by the gray kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and position it beside the metal kitchenpot",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid, then place it next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top, shift it, and place it close to the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can, place it by the dark gray stove kitchenpot",
+    "Set the white plastic lid sauce can right next to the round kitchenpot with handles",
+    "Using the left arm, lift the cylindrical sauce can and place it by the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Bring the rounded-edge sauce can over and set it near the smooth gray kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the metal kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Move the rounded-edge sauce can to be next to the cylindrical kitchenpot",
+    "Pick the round sauce can with yellow pattern and position it next to the smooth gray kitchenpot",
+    "Grab the sauce can, move it, and place by the smooth gray kitchenpot",
+    "Place the medium sauce can with white lid beside the dark gray stove kitchenpot after picking it up",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the kitchenpot for boiling and cooking",
+    "Lift the rounded-edge sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the smooth gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Place the yellow brown sauce can next to the dark gray stove kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Use the left arm to move the sauce can beside the cylindrical kitchenpot",
+    "Set the sauce can near the medium kitchenpot made of metal after picking it up",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Lift the sauce can and move it near the metal kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the gray kitchenpot",
+    "Use the left arm to pick the sauce can, position it near the smooth gray kitchenpot",
+    "Use the left arm to lift the sauce can and place it near the smooth gray kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the cylindrical kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to the smooth gray kitchenpot with the left arm",
+    "Pick the sauce can with sealed top up and move it next to the gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it next to the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it beside the kitchenpot with smooth exterior",
+    "Pick up the sauce can with sealed top and put it beside the medium-sized kitchenpot",
+    "Lift the sauce can and set it next to the round kitchenpot with handles",
+    "Take the rounded-edge sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "With the left arm, grab the cylindrical sauce can and move to the medium-sized kitchenpot",
+    "Grab the sauce can with glossy finish, move it to the cooking kitchenpot with side grips's side",
+    "Take the white plastic lid sauce can to the round kitchenpot with handles using the left arm",
+    "Pick the rounded-edge sauce can up with the left arm then place near the metal kitchenpot",
+    "Move the yellow brown sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Use the left arm to take the plastic lid sauce can to the metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can, shift it, and place it close to the gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode47.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the white plastic lid sauce can to the cooking kitchenpot with side grips",
+    "Move the white plastic lid sauce can beside the metal kitchenpot after lifting it",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the medium kitchenpot made of metal",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the medium-sized kitchenpot",
+    "Bring the round sauce can with yellow pattern over and set it near the medium kitchenpot made of metal",
+    "Move the sauce can with sealed top to be next to the kitchenpot for boiling and cooking",
+    "Place the sauce can beside the metal kitchenpot after picking it up",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the round kitchenpot with handles",
+    "Take the sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the smooth gray kitchenpot",
+    "Set the round sauce can with yellow pattern near the smooth gray kitchenpot after picking it up",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Pick up the hand-sized sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can up and move it next to the metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the cylindrical kitchenpot",
+    "Place the cylindrical sauce can next to the round kitchenpot with handles",
+    "Set the sauce can with glossy finish right next to the dark gray stove kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top and position it next to the metal kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the gray kitchenpot's side",
+    "Grab the plastic lid sauce can with the left arm and set it near the gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top to the kitchenpot with smooth exterior with the left arm",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the gray kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the dark gray stove kitchenpot",
+    "Pick the sauce can with the left arm and relocate it near the medium-sized kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can using the left arm and position it by the metal kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the kitchenpot with smooth exterior",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the dark gray stove kitchenpot",
+    "Pick up the plastic lid sauce can and put it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the smooth gray kitchenpot",
+    "Take the cylindrical sauce can with the left arm, place it near the gray kitchenpot",
+    "Use the left arm to move the plastic lid sauce can beside the round kitchenpot with handles",
+    "Take the round sauce can with yellow pattern with the left arm, bring it, and set next to the medium kitchenpot made of metal",
+    "Take the plastic lid sauce can to the medium-sized kitchenpot using the left arm",
+    "Lift the hand-sized sauce can, place it by the gray kitchenpot",
+    "Use the left arm to grab the white plastic lid sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Use the left arm to pick the plastic lid sauce can, position it near the medium kitchenpot made of metal",
+    "Pick the sauce can with sealed top up with the left arm then place near the cylindrical kitchenpot",
+    "Lift the sauce can and place it next to the dark gray stove kitchenpot",
+    "Lift the sauce can, then place it next to the smooth gray kitchenpot",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the round kitchenpot with handles",
+    "Lift the cylindrical sauce can and move it near the metal kitchenpot",
+    "With the left arm, grab the hand-sized sauce can and move to the medium-sized kitchenpot",
+    "Use the left arm to take the sauce can to the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can beside the gray kitchenpot after lifting it",
+    "Grab the hand-sized sauce can, shift it, and place it close to the gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the medium kitchenpot made of metal",
+    "Move the medium sauce can with white lid from its spot to near the cylindrical kitchenpot",
+    "Bring the yellow brown sauce can over and set it near the cooking kitchenpot with side grips",
+    "Move the hand-sized sauce can to be next to the cylindrical kitchenpot",
+    "Place the yellow brown sauce can beside the medium-sized kitchenpot after picking it up",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Take the sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the metal kitchenpot",
+    "Set the plastic lid sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the medium-sized kitchenpot",
+    "Pick up the plastic lid sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Lift the cylindrical sauce can and set it next to the metal kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it near the medium kitchenpot made of metal",
+    "Place the brown and yellow cylindrical sauce can next to the kitchenpot for boiling and cooking",
+    "Set the sauce can with glossy finish right next to the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Pick the plastic lid sauce can and position it next to the medium-sized kitchenpot",
+    "Grab the hand-sized sauce can, move it to the medium kitchenpot made of metal's side",
+    "Grab the sauce can with glossy finish with the left arm and set it near the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Move the cylindrical sauce can to the cooking kitchenpot with side grips with the left arm",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the gray cylindrical metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top and move it close to the gray kitchenpot",
+    "Pick the hand-sized sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Grab the hand-sized sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Lift the sauce can with sealed top and set it beside the dark gray stove kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the gray kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the kitchenpot with smooth exterior",
+    "Take the sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Use the left arm to move the round sauce can with yellow pattern beside the medium kitchenpot made of metal",
+    "Take the sauce can with glossy finish with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the smooth gray kitchenpot using the left arm",
+    "Lift the yellow brown sauce can, place it by the metal kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern and place it next to the kitchenpot with smooth exterior",
+    "Lift the sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Lift the hand-sized sauce can and set it next to the kitchenpot with smooth exterior",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top and move it near the gray kitchenpot",
+    "With the left arm, grab the medium sauce can with white lid and move to the kitchenpot with smooth exterior"
+  ],
+  "unseen": [
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode48.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the medium-sized kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the medium-sized kitchenpot",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the gray kitchenpot",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the gray kitchenpot",
+    "Use the left arm to lift the plastic lid sauce can and place it near the medium kitchenpot made of metal",
+    "Move the hand-sized sauce can from its spot to near the cylindrical kitchenpot",
+    "Move the sauce can to be next to the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and place it next to the kitchenpot for boiling and cooking",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the gray kitchenpot",
+    "Lift the plastic lid sauce can, then place it next to the cylindrical kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the metal kitchenpot",
+    "Pick the round sauce can with yellow pattern up and move it next to the round kitchenpot with handles",
+    "Grab the hand-sized sauce can with the left arm and set it near the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top and set it beside the dark gray stove kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the cooking kitchenpot with side grips",
+    "Pick up the yellow brown sauce can and put it beside the smooth gray kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the kitchenpot with smooth exterior",
+    "Set the sauce can with glossy finish near the kitchenpot for boiling and cooking after picking it up",
+    "Pick up the yellow brown sauce can with the left arm and set by the medium-sized kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can, place it by the gray kitchenpot",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Take the medium sauce can with white lid with the left arm, place it near the dark gray stove kitchenpot",
+    "Take the brown and yellow cylindrical sauce can to the dark gray stove kitchenpot using the left arm",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the kitchenpot with smooth exterior",
+    "Pick the sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the metal kitchenpot",
+    "Place the plastic lid sauce can beside the metal kitchenpot after picking it up",
+    "Place the sauce can with sealed top next to the cylindrical kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the medium kitchenpot made of metal",
+    "Use the left arm to pick the sauce can, position it near the medium kitchenpot made of metal",
+    "With the left arm, grab the yellow brown sauce can and move to the cooking kitchenpot with side grips",
+    "Move the white plastic lid sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Set the rounded-edge sauce can right next to the round kitchenpot with handles",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the metal kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Use the left arm to take the white plastic lid sauce can to the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top up with the left arm then place near the round kitchenpot with handles",
+    "Grab the brown and yellow cylindrical sauce can, move it to the round kitchenpot with handles's side",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the dark gray stove kitchenpot",
+    "Lift the medium sauce can with white lid and move it near the gray kitchenpot",
+    "Move the plastic lid sauce can to the gray kitchenpot with the left arm",
+    "Use the left arm to move the yellow brown sauce can beside the gray cylindrical metal kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the dark gray stove kitchenpot",
+    "Lift the sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Take the rounded-edge sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it near the medium-sized kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Move the brown and yellow cylindrical sauce can to be next to the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and place it next to the kitchenpot with smooth exterior",
+    "Pick the cylindrical sauce can up and carefully position it beside the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish, move it, and place by the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can using the left arm and position it by the kitchenpot with smooth exterior",
+    "Pick the plastic lid sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the gray kitchenpot",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the medium-sized kitchenpot",
+    "Pick up the cylindrical sauce can and put it beside the gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the round kitchenpot with handles",
+    "Set the hand-sized sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Pick up the hand-sized sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the medium-sized kitchenpot",
+    "Using the left arm, lift the hand-sized sauce can and place it by the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, place it by the kitchenpot for boiling and cooking",
+    "Pick up the white plastic lid sauce can using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the round kitchenpot with handles",
+    "Take the round sauce can with yellow pattern to the medium-sized kitchenpot using the left arm",
+    "Lift the yellow brown sauce can and set it next to the round kitchenpot with handles",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Pick the sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the dark gray stove kitchenpot",
+    "Place the white plastic lid sauce can beside the gray kitchenpot after picking it up",
+    "Place the hand-sized sauce can next to the smooth gray kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the round kitchenpot with handles",
+    "With the left arm, grab the hand-sized sauce can and move to the kitchenpot for boiling and cooking",
+    "Move the round sauce can with yellow pattern beside the gray cylindrical metal kitchenpot after lifting it",
+    "Set the white plastic lid sauce can right next to the gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Use the left arm to take the hand-sized sauce can to the kitchenpot for boiling and cooking",
+    "Pick the rounded-edge sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can, move it to the round kitchenpot with handles's side",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the smooth gray kitchenpot",
+    "Lift the sauce can and move it near the dark gray stove kitchenpot",
+    "Move the sauce can with glossy finish to the medium kitchenpot made of metal with the left arm",
+    "Use the left arm to move the plastic lid sauce can beside the kitchenpot with smooth exterior",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode49.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the gray cylindrical metal kitchenpot",
+    "Bring the plastic lid sauce can over and set it near the medium-sized kitchenpot",
+    "Take the medium sauce can with white lid to the dark gray stove kitchenpot using the left arm",
+    "Pick the hand-sized sauce can up and move it next to the medium kitchenpot made of metal",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Move the sauce can with glossy finish beside the gray kitchenpot after lifting it",
+    "Pick the sauce can with glossy finish up with the left arm then place near the kitchenpot with smooth exterior",
+    "Move the brown and yellow cylindrical sauce can to be next to the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can, place it by the dark gray stove kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the dark gray stove kitchenpot",
+    "With the left arm, grab the white plastic lid sauce can and move to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the dark gray stove kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the metal kitchenpot",
+    "Use the left arm to move the sauce can with glossy finish beside the medium-sized kitchenpot",
+    "Pick the sauce can and position it next to the medium-sized kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Place the plastic lid sauce can next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the sauce can with glossy finish, move it beside the cylindrical kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the round kitchenpot with handles",
+    "Place the medium sauce can with white lid beside the smooth gray kitchenpot after picking it up",
+    "Use the left arm to pick the cylindrical sauce can, position it near the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the smooth gray kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Grab the white plastic lid sauce can, move it to the dark gray stove kitchenpot's side",
+    "Set the sauce can with glossy finish right next to the gray cylindrical metal kitchenpot",
+    "Set the sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the medium kitchenpot made of metal",
+    "Grab the sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can and move it close to the gray kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the medium-sized kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can, then place it next to the cooking kitchenpot with side grips",
+    "Pick up the hand-sized sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Move the sauce can from its spot to near the round kitchenpot with handles",
+    "Use the left arm to take the sauce can with glossy finish to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can and move it near the cooking kitchenpot with side grips",
+    "Take the hand-sized sauce can with the left arm, place it near the metal kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the kitchenpot with smooth exterior",
+    "Pick up the cylindrical sauce can and put it beside the gray kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Move the sauce can to the kitchenpot with smooth exterior with the left arm",
+    "Lift the white plastic lid sauce can and place it next to the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the medium kitchenpot made of metal",
+    "Bring the medium sauce can with white lid over and set it near the cylindrical kitchenpot",
+    "Take the white plastic lid sauce can to the round kitchenpot with handles using the left arm",
+    "Pick the medium sauce can with white lid up and move it next to the medium-sized kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Move the sauce can beside the gray cylindrical metal kitchenpot after lifting it",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Move the white plastic lid sauce can to be next to the cylindrical kitchenpot",
+    "Lift the sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Lift the sauce can, place it by the gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the cooking kitchenpot with side grips",
+    "With the left arm, grab the medium sauce can with white lid and move to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern and set it next to the dark gray stove kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the medium kitchenpot made of metal",
+    "Pick the sauce can with sealed top and position it next to the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern, move it, and place by the medium-sized kitchenpot",
+    "Place the cylindrical sauce can next to the round kitchenpot with handles",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the gray kitchenpot",
+    "Take the white plastic lid sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the medium-sized kitchenpot",
+    "Place the sauce can beside the medium-sized kitchenpot after picking it up",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the metal kitchenpot",
+    "Grab the sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Set the cylindrical sauce can right next to the medium kitchenpot made of metal",
+    "Set the hand-sized sauce can near the medium kitchenpot made of metal after picking it up",
+    "Using the left arm, lift the sauce can and place it by the smooth gray kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the round kitchenpot with handles",
+    "Lift the round sauce can with yellow pattern and set it beside the medium-sized kitchenpot",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the round kitchenpot with handles",
+    "Pick up the rounded-edge sauce can with the left arm and set by the gray cylindrical metal kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the medium kitchenpot made of metal",
+    "Use the left arm to take the medium sauce can with white lid to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Lift the sauce can and move it near the cooking kitchenpot with side grips",
+    "Take the white plastic lid sauce can with the left arm, place it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the medium-sized kitchenpot",
+    "Pick up the cylindrical sauce can and put it beside the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can to the cylindrical kitchenpot with the left arm",
+    "Lift the white plastic lid sauce can and place it next to the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and set it near the dark gray stove kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the sauce can with glossy finish with the left arm and set by the kitchenpot for boiling and cooking",
+    "Grab the sauce can with glossy finish, move it to the medium-sized kitchenpot's side",
+    "Take the sauce can to the round kitchenpot with handles using the left arm",
+    "Pick up the white plastic lid sauce can and put it beside the smooth gray kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the smooth gray kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the metal kitchenpot",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Move the rounded-edge sauce can from its spot to near the round kitchenpot with handles",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the medium-sized kitchenpot",
+    "Move the yellow brown sauce can beside the smooth gray kitchenpot after lifting it",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish and position it next to the kitchenpot with smooth exterior",
+    "Pick the hand-sized sauce can up with the left arm then place near the gray kitchenpot",
+    "Place the sauce can with sealed top next to the gray kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the dark gray stove kitchenpot",
+    "Set the sauce can with glossy finish right next to the cylindrical kitchenpot",
+    "Place the medium sauce can with white lid beside the round kitchenpot with handles after picking it up",
+    "Grab the cylindrical sauce can, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the medium sauce can with white lid and place it next to the cooking kitchenpot with side grips",
+    "Lift the sauce can and set it beside the medium kitchenpot made of metal",
+    "Lift the yellow brown sauce can and move it near the medium kitchenpot made of metal",
+    "Move the sauce can to be next to the medium kitchenpot made of metal",
+    "Use the left arm to move the sauce can with sealed top beside the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can and set it next to the medium kitchenpot made of metal",
+    "Take the rounded-edge sauce can with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the cylindrical kitchenpot",
+    "Grab the plastic lid sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the round kitchenpot with handles",
+    "Set the sauce can near the medium kitchenpot made of metal after picking it up",
+    "With the left arm, grab the yellow brown sauce can and move to the dark gray stove kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Grab the white plastic lid sauce can, move it, and place by the cylindrical kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the kitchenpot with smooth exterior",
+    "Lift the cylindrical sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Use the left arm to take the yellow brown sauce can to the round kitchenpot with handles",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Lift the medium sauce can with white lid, then place it next to the cylindrical kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the gray kitchenpot",
+    "Move the white plastic lid sauce can to the dark gray stove kitchenpot with the left arm",
+    "Pick the cylindrical sauce can up and carefully position it beside the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the metal kitchenpot",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the gray cylindrical metal kitchenpot",
+    "Take the sauce can with glossy finish using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Grab the yellow brown sauce can, move it to the medium kitchenpot made of metal's side",
+    "Take the medium sauce can with white lid to the kitchenpot with smooth exterior using the left arm",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the gray kitchenpot",
+    "Grab the sauce can with glossy finish and move it close to the cylindrical kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the smooth gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the smooth gray kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Move the yellow brown sauce can from its spot to near the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can and place it near the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the medium-sized kitchenpot",
+    "Move the yellow brown sauce can beside the round kitchenpot with handles after lifting it",
+    "Grab the sauce can with sealed top with the left arm and move it close to the medium-sized kitchenpot",
+    "Pick the hand-sized sauce can and position it next to the metal kitchenpot",
+    "Pick the medium sauce can with white lid up with the left arm then place near the metal kitchenpot",
+    "Place the sauce can with glossy finish next to the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the round kitchenpot with handles",
+    "Set the rounded-edge sauce can right next to the smooth gray kitchenpot",
+    "Place the sauce can with glossy finish beside the gray kitchenpot after picking it up",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Lift the sauce can with sealed top and set it beside the metal kitchenpot",
+    "Lift the sauce can with glossy finish and move it near the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can to be next to the cooking kitchenpot with side grips",
+    "Use the left arm to move the plastic lid sauce can beside the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the metal kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the cooking kitchenpot with side grips",
+    "Lift the plastic lid sauce can, place it by the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Set the medium sauce can with white lid near the dark gray stove kitchenpot after picking it up",
+    "With the left arm, grab the hand-sized sauce can and move to the round kitchenpot with handles",
+    "Pick the plastic lid sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Lift the plastic lid sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Grab the rounded-edge sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the cylindrical kitchenpot",
+    "Use the left arm to take the hand-sized sauce can to the round kitchenpot with handles",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the kitchenpot with smooth exterior",
+    "Grab the cylindrical sauce can with the left arm and set it near the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid, then place it next to the cooking kitchenpot with side grips",
+    "Bring the sauce can over and set it near the gray kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the gray kitchenpot",
+    "Move the sauce can with sealed top to the cooking kitchenpot with side grips with the left arm",
+    "Pick the cylindrical sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the medium-sized kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the metal kitchenpot",
+    "Take the plastic lid sauce can using the left arm, set it next to the kitchenpot for boiling and cooking"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode6.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the plastic lid sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Use the left arm to move the sauce can with glossy finish beside the cooking kitchenpot with side grips",
+    "Set the cylindrical sauce can near the cylindrical kitchenpot after picking it up",
+    "Use the left arm to take the rounded-edge sauce can to the cylindrical kitchenpot",
+    "Pick up the round sauce can with yellow pattern using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid to the gray kitchenpot with the left arm",
+    "Use the left arm to pick the sauce can with sealed top, position it near the gray cylindrical metal kitchenpot",
+    "Grab the hand-sized sauce can with the left arm and set it near the cooking kitchenpot with side grips",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the dark gray stove kitchenpot",
+    "Bring the sauce can over and set it near the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the smooth gray kitchenpot",
+    "Take the plastic lid sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can using the left arm and position it by the metal kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the gray kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the kitchenpot for boiling and cooking",
+    "Set the rounded-edge sauce can right next to the medium-sized kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Place the white plastic lid sauce can beside the cooking kitchenpot with side grips after picking it up",
+    "Grab the cylindrical sauce can, shift it, and place it close to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the metal kitchenpot",
+    "Grab the hand-sized sauce can and move it close to the cylindrical kitchenpot",
+    "Take the white plastic lid sauce can to the medium-sized kitchenpot using the left arm",
+    "Move the plastic lid sauce can to be next to the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the smooth gray kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it, and place by the medium-sized kitchenpot",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Lift the rounded-edge sauce can, place it by the medium kitchenpot made of metal",
+    "Pick the sauce can up and carefully position it beside the metal kitchenpot",
+    "Use the left arm to lift the sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with glossy finish, move it to the gray cylindrical metal kitchenpot's side",
+    "Pick the sauce can with sealed top up and move it next to the metal kitchenpot",
+    "Pick the sauce can and position it next to the medium-sized kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, place it near the cylindrical kitchenpot",
+    "Place the plastic lid sauce can next to the round kitchenpot with handles",
+    "Grab the plastic lid sauce can with the left arm and position it beside the medium kitchenpot made of metal",
+    "Lift the white plastic lid sauce can and move it near the medium kitchenpot made of metal",
+    "Pick up the white plastic lid sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Using the left arm, lift the hand-sized sauce can and place it by the medium kitchenpot made of metal",
+    "Lift the sauce can, then place it next to the gray kitchenpot",
+    "Lift the white plastic lid sauce can and place it next to the kitchenpot with smooth exterior",
+    "With the left arm, grab the yellow brown sauce can and move to the kitchenpot for boiling and cooking",
+    "Pick up the rounded-edge sauce can and put it beside the cooking kitchenpot with side grips",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the smooth gray kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the round kitchenpot with handles",
+    "Move the sauce can with sealed top beside the metal kitchenpot after lifting it",
+    "Use the left arm to move the rounded-edge sauce can beside the medium-sized kitchenpot",
+    "Set the medium sauce can with white lid near the cooking kitchenpot with side grips after picking it up",
+    "Use the left arm to take the plastic lid sauce can to the cooking kitchenpot with side grips",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the gray kitchenpot",
+    "Move the sauce can with sealed top to the metal kitchenpot with the left arm",
+    "Use the left arm to pick the rounded-edge sauce can, position it near the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with white lid with the left arm and set it near the gray kitchenpot",
+    "Use the left arm to grab the sauce can and move it beside the round kitchenpot with handles",
+    "Bring the sauce can over and set it near the medium-sized kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the gray kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the round kitchenpot with handles",
+    "Use the left arm to grab the medium sauce can with white lid and move it next to the cooking kitchenpot with side grips",
+    "Lift the rounded-edge sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the medium-sized kitchenpot",
+    "Set the round sauce can with yellow pattern right next to the metal kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the cylindrical kitchenpot",
+    "Place the rounded-edge sauce can beside the medium-sized kitchenpot after picking it up",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the metal kitchenpot",
+    "Use the left arm to lift the yellow brown sauce can and place it near the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid and move it close to the round kitchenpot with handles",
+    "Take the round sauce can with yellow pattern to the kitchenpot for boiling and cooking using the left arm",
+    "Move the hand-sized sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the cooking kitchenpot with side grips",
+    "Grab the rounded-edge sauce can, move it, and place by the round kitchenpot with handles",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Lift the round sauce can with yellow pattern, place it by the medium-sized kitchenpot",
+    "Pick the sauce can up and carefully position it beside the metal kitchenpot",
+    "Use the left arm to lift the rounded-edge sauce can and place it next to the smooth gray kitchenpot",
+    "Pick the white plastic lid sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the dark gray stove kitchenpot",
+    "Grab the white plastic lid sauce can, move it to the kitchenpot for boiling and cooking's side",
+    "Pick the sauce can up and move it next to the smooth gray kitchenpot",
+    "Pick the sauce can and position it next to the cooking kitchenpot with side grips",
+    "Take the cylindrical sauce can with the left arm, place it near the gray kitchenpot",
+    "Place the white plastic lid sauce can next to the kitchenpot with smooth exterior",
+    "Grab the plastic lid sauce can with the left arm and position it beside the kitchenpot with smooth exterior",
+    "Lift the round sauce can with yellow pattern and move it near the round kitchenpot with handles",
+    "Pick up the hand-sized sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the metal kitchenpot",
+    "Lift the sauce can, then place it next to the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid and place it next to the kitchenpot for boiling and cooking",
+    "With the left arm, grab the medium sauce can with white lid and move to the gray cylindrical metal kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the gray cylindrical metal kitchenpot",
+    "Move the medium sauce can with white lid from its spot to near the cylindrical kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode7.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the hand-sized sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Lift the medium sauce can with white lid and place it next to the gray cylindrical metal kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the gray kitchenpot",
+    "Take the medium sauce can with white lid with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Grab the round sauce can with yellow pattern, move it to the gray kitchenpot's side",
+    "Move the cylindrical sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Use the left arm to take the medium sauce can with white lid to the metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the smooth gray kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the smooth gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the cylindrical kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the round kitchenpot with handles",
+    "Place the plastic lid sauce can beside the kitchenpot for boiling and cooking after picking it up",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can, move it beside the dark gray stove kitchenpot",
+    "Move the white plastic lid sauce can to the gray cylindrical metal kitchenpot with the left arm",
+    "Lift the medium sauce can with white lid and set it next to the dark gray stove kitchenpot",
+    "Pick the sauce can with glossy finish up with the left arm then place near the kitchenpot with smooth exterior",
+    "Lift the plastic lid sauce can and move it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the metal kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the metal kitchenpot",
+    "Take the sauce can with glossy finish to the smooth gray kitchenpot using the left arm",
+    "Using the left arm, lift the hand-sized sauce can and place it by the round kitchenpot with handles",
+    "Lift the plastic lid sauce can, place it by the metal kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the round kitchenpot with handles",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the cooking kitchenpot with side grips",
+    "Take the medium sauce can with white lid with the left arm, place it near the kitchenpot with smooth exterior",
+    "Lift the white plastic lid sauce can using the left arm and position it by the cylindrical kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the kitchenpot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the metal kitchenpot",
+    "Move the rounded-edge sauce can from its spot to near the medium kitchenpot made of metal",
+    "Move the medium sauce can with white lid to be next to the kitchenpot with smooth exterior",
+    "Set the hand-sized sauce can right next to the smooth gray kitchenpot",
+    "Grab the sauce can and move it close to the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can and set it beside the kitchenpot with smooth exterior",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the kitchenpot for boiling and cooking",
+    "Bring the yellow brown sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Take the yellow brown sauce can using the left arm, set it next to the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the kitchenpot for boiling and cooking",
+    "Pick up the sauce can with glossy finish with the left arm and set by the medium kitchenpot made of metal",
+    "Grab the medium sauce can with white lid with the left arm and set it near the smooth gray kitchenpot",
+    "Pick the white plastic lid sauce can up and move it next to the cylindrical kitchenpot",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the medium-sized kitchenpot",
+    "Place the yellow brown sauce can next to the kitchenpot for boiling and cooking",
+    "Set the round sauce can with yellow pattern near the gray kitchenpot after picking it up",
+    "Lift the round sauce can with yellow pattern and place it next to the cooking kitchenpot with side grips",
+    "Grab the hand-sized sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to move the cylindrical sauce can beside the metal kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, bring it, and set next to the metal kitchenpot",
+    "Grab the sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Move the round sauce can with yellow pattern beside the medium kitchenpot made of metal after lifting it",
+    "Use the left arm to take the plastic lid sauce can to the metal kitchenpot",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the gray cylindrical metal kitchenpot",
+    "Lift the yellow brown sauce can and set it next to the round kitchenpot with handles",
+    "Grab the white plastic lid sauce can with the left arm and move it close to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the medium kitchenpot made of metal",
+    "Use the left arm to pick the sauce can with sealed top, position it near the dark gray stove kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it near the cylindrical kitchenpot",
+    "Place the white plastic lid sauce can beside the medium-sized kitchenpot after picking it up",
+    "Use the left arm to grab the hand-sized sauce can and move it beside the kitchenpot with smooth exterior",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the cylindrical kitchenpot",
+    "Move the round sauce can with yellow pattern to the cooking kitchenpot with side grips with the left arm",
+    "Lift the sauce can and set it next to the medium-sized kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and move it near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the sauce can and transfer it near the round kitchenpot with handles",
+    "Lift the white plastic lid sauce can, then place it next to the smooth gray kitchenpot",
+    "Take the sauce can with sealed top to the medium kitchenpot made of metal using the left arm",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the kitchenpot with smooth exterior",
+    "Lift the sauce can, place it by the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the metal kitchenpot",
+    "Lift the sauce can with sealed top using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Pick up the rounded-edge sauce can and put it beside the gray kitchenpot",
+    "Take the brown and yellow cylindrical sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Use the left arm to lift the sauce can and place it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the gray kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the medium kitchenpot made of metal",
+    "Grab the yellow brown sauce can, move it, and place by the medium-sized kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the kitchenpot with smooth exterior",
+    "Move the sauce can with sealed top to be next to the gray kitchenpot",
+    "Set the brown and yellow cylindrical sauce can right next to the medium kitchenpot made of metal",
+    "Grab the sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Lift the white plastic lid sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the cylindrical kitchenpot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the round kitchenpot with handles",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Pick the hand-sized sauce can up and carefully position it beside the round kitchenpot with handles",
+    "Pick up the white plastic lid sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the metal kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the kitchenpot for boiling and cooking",
+    "Pick up the rounded-edge sauce can using the left arm, transfer it beside the metal kitchenpot",
+    "Place the rounded-edge sauce can next to the kitchenpot for boiling and cooking"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode8.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the round sauce can with yellow pattern and put it beside the dark gray stove kitchenpot",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Lift the white plastic lid sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Take the sauce can with sealed top using the left arm, set it next to the metal kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the metal kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cylindrical kitchenpot",
+    "Lift the rounded-edge sauce can and move it near the cylindrical kitchenpot",
+    "Bring the cylindrical sauce can over and set it near the kitchenpot with smooth exterior",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the gray kitchenpot",
+    "Move the sauce can to the medium kitchenpot made of metal with the left arm",
+    "Take the cylindrical sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Use the left arm to lift the yellow brown sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the yellow brown sauce can, position it near the dark gray stove kitchenpot",
+    "Set the hand-sized sauce can right next to the kitchenpot with smooth exterior",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the round kitchenpot with handles",
+    "Lift the medium sauce can with white lid and set it next to the cylindrical kitchenpot",
+    "Set the hand-sized sauce can near the smooth gray kitchenpot after picking it up",
+    "Lift the plastic lid sauce can, place it by the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Take the plastic lid sauce can with the left arm, place it near the gray cylindrical metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Use the left arm to grab the rounded-edge sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Place the white plastic lid sauce can next to the cylindrical kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top with the left arm and set it near the smooth gray kitchenpot",
+    "Grab the sauce can with sealed top, move it, and place by the medium kitchenpot made of metal",
+    "Grab the sauce can and move it close to the metal kitchenpot",
+    "Use the left arm to move the white plastic lid sauce can beside the cylindrical kitchenpot",
+    "Grab the sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Pick the medium sauce can with white lid up and move it next to the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Move the plastic lid sauce can beside the cylindrical kitchenpot after lifting it",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it beside the metal kitchenpot",
+    "Use the left arm to take the hand-sized sauce can to the dark gray stove kitchenpot",
+    "Pick the plastic lid sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Using the left arm, lift the plastic lid sauce can and place it by the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the gray cylindrical metal kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Lift the hand-sized sauce can and set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Pick the sauce can with sealed top up and carefully position it beside the kitchenpot with smooth exterior",
+    "Lift the medium sauce can with white lid and place it next to the metal kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the medium kitchenpot made of metal",
+    "Move the white plastic lid sauce can to be next to the dark gray stove kitchenpot",
+    "Place the white plastic lid sauce can beside the gray cylindrical metal kitchenpot after picking it up",
+    "Pick up the cylindrical sauce can and put it beside the cooking kitchenpot with side grips",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Lift the round sauce can with yellow pattern, then place it next to the cylindrical kitchenpot",
+    "Grab the hand-sized sauce can, move it to the round kitchenpot with handles's side",
+    "Take the sauce can with glossy finish using the left arm, set it next to the medium kitchenpot made of metal",
+    "With the left arm, grab the sauce can with sealed top and move to the round kitchenpot with handles",
+    "Pick the white plastic lid sauce can and position it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the kitchenpot with smooth exterior",
+    "Lift the yellow brown sauce can and move it near the round kitchenpot with handles",
+    "Bring the white plastic lid sauce can over and set it near the round kitchenpot with handles",
+    "Lift the plastic lid sauce can using the left arm and position it by the metal kitchenpot",
+    "Move the rounded-edge sauce can to the medium-sized kitchenpot with the left arm",
+    "Take the sauce can with sealed top to the kitchenpot with smooth exterior using the left arm",
+    "Use the left arm to lift the cylindrical sauce can and place it near the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the cylindrical kitchenpot",
+    "Set the plastic lid sauce can right next to the gray kitchenpot",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the gray kitchenpot",
+    "Set the cylindrical sauce can near the cooking kitchenpot with side grips after picking it up",
+    "Lift the rounded-edge sauce can, place it by the smooth gray kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the metal kitchenpot",
+    "Take the sauce can with the left arm, place it near the round kitchenpot with handles",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the smooth gray kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the cooking kitchenpot with side grips",
+    "Place the cylindrical sauce can next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the metal kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "Grab the sauce can, move it, and place by the dark gray stove kitchenpot",
+    "Grab the sauce can with sealed top and move it close to the kitchenpot with smooth exterior",
+    "Use the left arm to move the plastic lid sauce can beside the dark gray stove kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the dark gray stove kitchenpot",
+    "Pick the medium sauce can with white lid up and move it next to the medium kitchenpot made of metal",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the round kitchenpot with handles",
+    "Move the yellow brown sauce can beside the medium-sized kitchenpot after lifting it",
+    "Move the sauce can with sealed top from its spot to near the dark gray stove kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the metal kitchenpot",
+    "Use the left arm to take the white plastic lid sauce can to the gray cylindrical metal kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the medium kitchenpot made of metal",
+    "Using the left arm, lift the round sauce can with yellow pattern and place it by the kitchenpot with smooth exterior",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the smooth gray kitchenpot",
+    "Take the hand-sized sauce can with the left arm, bring it, and set next to the cylindrical kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the medium-sized kitchenpot",
+    "Pick up the yellow brown sauce can with the left arm and set by the metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it next to the cylindrical kitchenpot",
+    "Use the left arm to lift the sauce can with sealed top and place it next to the gray kitchenpot",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the gray cylindrical metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can, then move it next to the metal kitchenpot",
+    "Move the plastic lid sauce can to be next to the medium-sized kitchenpot",
+    "Place the round sauce can with yellow pattern beside the medium kitchenpot made of metal after picking it up"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles"
+  ]
+}

background/train/move_can_pot/rtgen_background_train_move_can_pot_clean_lab/instructions/episode9.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic lid sauce can with the left arm and move it close to the smooth gray kitchenpot",
+    "Take the sauce can with sealed top to the round kitchenpot with handles using the left arm",
+    "Use the left arm to lift the sauce can and place it next to the cooking kitchenpot with side grips",
+    "Use the left arm to move the hand-sized sauce can beside the round kitchenpot with handles",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Pick the rounded-edge sauce can up and move it next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can, shift it, and place it close to the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Grab the medium sauce can with white lid, move it to the gray cylindrical metal kitchenpot's side",
+    "Pick up the sauce can and put it beside the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can and move it near the smooth gray kitchenpot",
+    "Using the left arm, lift the medium sauce can with white lid and place it by the dark gray stove kitchenpot",
+    "Use the left arm to take the yellow brown sauce can to the gray cylindrical metal kitchenpot",
+    "Grab the rounded-edge sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Set the rounded-edge sauce can right next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the kitchenpot with smooth exterior",
+    "Pick up the sauce can with glossy finish with the left arm and set by the round kitchenpot with handles",
+    "Pick the brown and yellow cylindrical sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Move the medium sauce can with white lid to be next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the smooth gray kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the gray cylindrical metal kitchenpot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the white plastic lid sauce can, then move it next to the smooth gray kitchenpot",
+    "Lift the sauce can and set it next to the medium kitchenpot made of metal",
+    "Place the hand-sized sauce can beside the medium-sized kitchenpot after picking it up",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the metal kitchenpot",
+    "Set the cylindrical sauce can near the dark gray stove kitchenpot after picking it up",
+    "Use the left arm to grab the round sauce can with yellow pattern and transfer it near the smooth gray kitchenpot",
+    "Lift the medium sauce can with white lid, then place it next to the medium-sized kitchenpot",
+    "Pick the hand-sized sauce can with the left arm and relocate it near the cooking kitchenpot with side grips",
+    "Grab the sauce can with sealed top with the left arm and position it beside the round kitchenpot with handles",
+    "Lift the plastic lid sauce can and place it next to the dark gray stove kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the kitchenpot with smooth exterior",
+    "Move the round sauce can with yellow pattern to the medium kitchenpot made of metal with the left arm",
+    "Bring the hand-sized sauce can over and set it near the round kitchenpot with handles",
+    "Move the round sauce can with yellow pattern from its spot to near the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the round kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the medium kitchenpot made of metal",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the cylindrical kitchenpot",
+    "Move the rounded-edge sauce can beside the gray kitchenpot after lifting it",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the smooth gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the kitchenpot for boiling and cooking",
+    "Take the sauce can with sealed top with the left arm, place it near the kitchenpot with smooth exterior",
+    "With the left arm, grab the plastic lid sauce can and move to the cylindrical kitchenpot",
+    "Lift the yellow brown sauce can, place it by the metal kitchenpot",
+    "Place the cylindrical sauce can next to the kitchenpot with smooth exterior",
+    "Grab the hand-sized sauce can and move it close to the kitchenpot for boiling and cooking",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Take the rounded-edge sauce can to the kitchenpot with smooth exterior using the left arm",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the gray kitchenpot",
+    "Use the left arm to move the yellow brown sauce can beside the gray cylindrical metal kitchenpot",
+    "Take the sauce can with sealed top using the left arm, set it next to the gray kitchenpot",
+    "Pick the white plastic lid sauce can up and move it next to the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can, shift it, and place it close to the cylindrical kitchenpot",
+    "Lift the sauce can and set it next to the metal kitchenpot",
+    "Grab the medium sauce can with white lid, move it to the gray cylindrical metal kitchenpot's side",
+    "Pick up the sauce can with glossy finish and put it beside the kitchenpot with smooth exterior",
+    "Lift the hand-sized sauce can and move it near the cylindrical kitchenpot",
+    "Using the left arm, lift the plastic lid sauce can and place it by the kitchenpot with smooth exterior",
+    "Use the left arm to take the plastic lid sauce can to the medium-sized kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and set it near the medium-sized kitchenpot",
+    "Set the white plastic lid sauce can right next to the gray kitchenpot",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the dark gray stove kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Pick the rounded-edge sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Move the round sauce can with yellow pattern to be next to the metal kitchenpot",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Pick the sauce can with sealed top and position it next to the smooth gray kitchenpot",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the round kitchenpot with handles",
+    "Use the left arm to lift the round sauce can with yellow pattern, then move it next to the dark gray stove kitchenpot",
+    "Lift the sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the metal kitchenpot after picking it up",
+    "Use the left arm to pick the sauce can, position it near the kitchenpot for boiling and cooking",
+    "Set the brown and yellow cylindrical sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the cylindrical kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the medium-sized kitchenpot",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Grab the hand-sized sauce can with the left arm and position it beside the dark gray stove kitchenpot",
+    "Lift the hand-sized sauce can and place it next to the cylindrical kitchenpot",
+    "Lift the plastic lid sauce can and set it beside the smooth gray kitchenpot",
+    "Move the white plastic lid sauce can to the dark gray stove kitchenpot with the left arm",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the smooth gray kitchenpot",
+    "Move the medium sauce can with white lid from its spot to near the gray kitchenpot",
+    "Pick the sauce can with glossy finish up and carefully position it beside the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the gray kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Take the sauce can with the left arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the medium kitchenpot made of metal",
+    "Grab the rounded-edge sauce can, move it, and place by the round kitchenpot with handles",
+    "Move the sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Use the left arm to lift the rounded-edge sauce can and place it near the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Take the sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the gray kitchenpot",
+    "Lift the yellow brown sauce can, place it by the kitchenpot for boiling and cooking",
+    "Place the brown and yellow cylindrical sauce can next to the smooth gray kitchenpot",
+    "Grab the white plastic lid sauce can and move it close to the dark gray stove kitchenpot"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles"
+  ]
+}