Add files using upload-large-folder tool

adjust_bottle/demo_diverse/instructions/episode0.json

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+{
+  "seen": [
+    "Lift the red-capped bottle from the table with the left arm",
+    "Hold the Coca-Cola bottle upright from the table",
+    "Lift the brown bottle with red label from the table without mentioning the arm.",
+    "Lift the red-capped bottle using the left arm and hold upright",
+    "Raise the hand-sized soda bottle in a head-up position",
+    "Use the correct arm to pick up the smooth bottle with red lid.",
+    "Lift the Coca-Cola bottle head-up from the table",
+    "Use the left arm to pick up the medium dark brown bottle in the correct orientation",
+    "Pick the medium dark brown bottle up with the left arm ensuring it stays head-up.",
+    "Grab the hand-sized soda bottle with the left arm in a head-up way",
+    "Pick the smooth bottle with red lid head-up using the right arm",
+    "Pick the smooth bottle with red lid and keep it upright",
+    "Pick the hand-sized soda bottle head-up and hold it steady.",
+    "Grab the bottle with white neck and red top from the table and hold it head-up.",
+    "Grab the bottle with ridges on bottom and lift it with the left arm",
+    "Lift the narrow-necked bottle from the table upright",
+    "Use the left arm to lift the smooth bottle with red lid head-up",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Hold the bottle with ridges on bottom upright after lifting with the left arm",
+    "Secure the smooth bottle with red lid upright with the left arm",
+    "Lift the bottle the dark drink bottle with logo up from the table",
+    "Lift the Coca-Cola bottle upright carefully using the left arm",
+    "Position the dark drink bottle with logo head-up and lift it",
+    "Raise the dark drink bottle with logo from the table using the correct arm, the left arm.",
+    "Use the left arm to hold the medium dark brown bottle from the table",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Use the left arm to pick the red-capped bottle up and keep it head-up.",
+    "Find the long thin bottle on the table and raise it using the left arm.",
+    "Carefully grab the plastic drink bottle head-up",
+    "Grab the plastic drink bottle and lift it into a head-up position",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Grab the dark drink bottle with logo and lift it upright",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Utilize the left arm to lift the narrow-necked bottle while keeping it head-up.",
+    "Use the left arm to grab and lift the hand-sized soda bottle head-up.",
+    "Use the left arm to pick up the brown bottle with red label from the table.",
+    "Lift the smooth bottle with red lid head-up from the table.",
+    "Locate the bottle with ridges on bottom and lift it upright with the left arm.",
+    "Lift the narrow-necked bottle from the table and secure upright",
+    "Pick up the hand-sized soda bottle from the table carefully.",
+    "Identify the brown bottle with red label and grab it with the left arm",
+    "Grab the bottle with ridges on bottom head-up using the left arm from the table.",
+    "Pick the medium dark brown bottle upright from the table",
+    "Pick up the plastic drink bottle from the table using the left arm.",
+    "Pick up the narrow-necked bottle upright from the table",
+    "Pick the red-capped bottle upright from the table",
+    "Hold the plastic drink bottle head-up after lifting it.",
+    "Using the left arm, pick the hand-sized soda bottle upright",
+    "Lift the bottle the bottle with white neck and red top headup from the table",
+    "Lift the hand-sized soda bottle from the table with the left arm",
+    "Hold the dark drink bottle with logo upright from the table",
+    "Lift the bottle with ridges on bottom from the table without mentioning the arm.",
+    "Lift the dark drink bottle with logo using the left arm and hold upright",
+    "Raise the hand-sized soda bottle in a head-up position",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Lift the plastic drink bottle head-up from the table",
+    "Use the left arm to pick up the plastic drink bottle in the correct orientation",
+    "Pick the narrow-necked bottle up with the left arm ensuring it stays head-up.",
+    "Grab the brown bottle with red label with the left arm in a head-up way",
+    "Pick the narrow-necked bottle head-up using the right arm",
+    "Pick the smooth bottle with red lid and keep it upright",
+    "Pick the dark drink bottle with logo head-up and hold it steady.",
+    "Grab the narrow-necked bottle from the table and hold it head-up.",
+    "Grab the smooth bottle with red lid and lift it with the left arm",
+    "Lift the hand-sized soda bottle from the table upright",
+    "Use the left arm to lift the smooth bottle with red lid head-up",
+    "Grab the narrow-necked bottle from the table with the left arm",
+    "Take the hand-sized soda bottle from the table and keep upright",
+    "Hold the smooth bottle with red lid upright after lifting with the left arm",
+    "Secure the brown bottle with red label upright with the left arm",
+    "Lift the bottle the Coca-Cola bottle up from the table",
+    "Lift the narrow-necked bottle upright carefully using the left arm",
+    "Position the narrow-necked bottle head-up and lift it",
+    "Raise the red-capped bottle from the table using the correct arm, the left arm.",
+    "Use the left arm to hold the brown bottle with red label from the table",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Use the left arm to pick the bottle with white neck and red top up and keep it head-up.",
+    "Find the plastic drink bottle on the table and raise it using the left arm.",
+    "Carefully grab the red-capped bottle head-up",
+    "Grab the narrow-necked bottle and lift it into a head-up position",
+    "Grab the red-capped bottle and lift it upward from the table.",
+    "Grab the plastic drink bottle and lift it upright",
+    "Lift the medium dark brown bottle ensuring it remains upright.",
+    "Utilize the left arm to lift the bottle with ridges on bottom while keeping it head-up.",
+    "Use the left arm to grab and lift the hand-sized soda bottle head-up.",
+    "Use the left arm to pick up the dark drink bottle with logo from the table.",
+    "Lift the Coca-Cola bottle head-up from the table.",
+    "Locate the hand-sized soda bottle and lift it upright with the left arm.",
+    "Lift the brown bottle with red label from the table and secure upright",
+    "Pick up the plastic drink bottle from the table carefully.",
+    "Identify the Coca-Cola bottle and grab it with the left arm",
+    "Grab the Coca-Cola bottle head-up using the left arm from the table.",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Pick up the narrow-necked bottle from the table using the left arm.",
+    "Pick up the narrow-necked bottle upright from the table",
+    "Pick the narrow-necked bottle upright from the table",
+    "Hold the medium dark brown bottle head-up after lifting it.",
+    "Using the left arm, pick the narrow-necked bottle upright",
+    "Lift the bottle the brown bottle with red label headup from the table"
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the bottle with white printed label from the table carefully.",
+    "Grab the bottle with narrow top and lift it upright",
+    "Pick up the bottle with white printed label from the table using the right arm.",
+    "Use the right arm to hold the plastic bottle from the table",
+    "Grab the bottle with white printed label and lift it into a head-up position",
+    "Pick the bottle with rounded neck upright from the table",
+    "Lift the green bottle with indented base head-up from the table.",
+    "Grab the medium green bottle and lift it upward from the table.",
+    "Carefully grab the bottle with white printed label head-up",
+    "Position the bottle with narrow top head-up and lift it",
+    "Pick up the handheld green bottle upright from the table",
+    "Use the right arm to grab and lift the smooth green plastic bottle head-up.",
+    "Grab the bottle with white printed label and lift it with the right arm",
+    "Hold the medium green bottle upright from the table",
+    "Lift the smooth green plastic bottle from the table and secure upright",
+    "Grab the medium green bottle with capped neck from the table with the right arm",
+    "Pick the bottle with narrow top head-up and hold it steady.",
+    "Grab the smooth green bottle with the right arm in a head-up way",
+    "Pick the medium green bottle and keep it upright",
+    "Identify the bottle with ridges near base and grab it with the right arm",
+    "Lift the bottle the bottle with white printed label up from the table",
+    "Raise the medium-sized green bottle from the table using the correct arm, the right arm.",
+    "Lift the bottle the plastic bottle headup from the table",
+    "Use the right arm to pick up the bottle with narrow top from the table.",
+    "Pick the green bottle with indented base upright from the table",
+    "Use the correct arm to pick up the bottle with rounded neck.",
+    "Using the right arm, pick the green bottle with indented base upright",
+    "Lift the plastic bottle from the table without mentioning the arm.",
+    "Lift the green bottle with indented base from the table upright",
+    "Lift the handheld green bottle using the right arm and hold upright",
+    "Hold the handheld green bottle head-up after lifting it.",
+    "Lift the bottle with rounded neck off the table and hold it upright.",
+    "Pick the smooth green plastic bottle up with the right arm ensuring it stays head-up.",
+    "Raise the handheld green bottle in a head-up position",
+    "Secure the medium-sized green bottle upright with the right arm",
+    "Use the right arm to pick the handheld green bottle up and keep it head-up.",
+    "Grab the bottle with ridges near base head-up using the right arm from the table.",
+    "Lift the plastic bottle ensuring it remains upright.",
+    "Use the right arm to pick up the medium-sized green bottle in the correct orientation",
+    "Hold the plastic bottle upright after lifting with the right arm",
+    "Utilize the right arm to lift the smooth green plastic bottle while keeping it head-up.",
+    "Lift the handheld green bottle head-up from the table",
+    "Grab the bottle with rounded neck from the table and hold it head-up.",
+    "Find the smooth green bottle on the table and raise it using the right arm.",
+    "Take the handheld green bottle from the table and keep upright",
+    "Lift the smooth green plastic bottle upright carefully using the right arm",
+    "Locate the smooth green plastic bottle and lift it upright with the right arm.",
+    "Lift the bottle with rounded neck from the table with the right arm",
+    "Pick the handheld green bottle head-up using the right arm",
+    "Use the right arm to lift the bottle with rounded neck head-up",
+    "Pick up the bottle with rounded neck from the table carefully.",
+    "Grab the medium green bottle and lift it upright",
+    "Pick up the medium green bottle with capped neck from the table using the right arm.",
+    "Use the right arm to hold the bottle with rounded neck from the table",
+    "Grab the medium green bottle and lift it into a head-up position",
+    "Pick the bottle with rounded neck upright from the table",
+    "Lift the bottle with rounded neck head-up from the table.",
+    "Grab the green bottle with indented base and lift it upward from the table.",
+    "Carefully grab the bottle with narrow top head-up",
+    "Position the green bottle with indented base head-up and lift it",
+    "Pick up the smooth green bottle upright from the table",
+    "Use the right arm to grab and lift the medium-sized green bottle head-up.",
+    "Grab the plastic bottle and lift it with the right arm",
+    "Hold the bottle with rounded neck upright from the table",
+    "Lift the bottle with narrow top from the table and secure upright",
+    "Grab the smooth green plastic bottle from the table with the right arm",
+    "Pick the medium-sized green bottle head-up and hold it steady.",
+    "Grab the bottle with white printed label with the right arm in a head-up way",
+    "Pick the bottle with white printed label and keep it upright",
+    "Identify the medium green bottle with capped neck and grab it with the right arm",
+    "Lift the bottle the medium green bottle with capped neck up from the table",
+    "Raise the bottle with white printed label from the table using the correct arm, the right arm.",
+    "Lift the bottle the smooth green plastic bottle headup from the table",
+    "Use the right arm to pick up the medium green bottle from the table.",
+    "Pick the plastic bottle upright from the table",
+    "Use the correct arm to pick up the medium-sized green bottle.",
+    "Using the right arm, pick the bottle with white printed label upright",
+    "Lift the plastic bottle from the table without mentioning the arm.",
+    "Lift the smooth green bottle from the table upright",
+    "Lift the smooth green bottle using the right arm and hold upright",
+    "Hold the green bottle with indented base head-up after lifting it.",
+    "Lift the plastic bottle off the table and hold it upright.",
+    "Pick the bottle with ridges near base up with the right arm ensuring it stays head-up.",
+    "Raise the bottle with white printed label in a head-up position",
+    "Secure the bottle with narrow top upright with the right arm",
+    "Use the right arm to pick the smooth green bottle up and keep it head-up.",
+    "Grab the medium green bottle with capped neck head-up using the right arm from the table.",
+    "Lift the plastic bottle ensuring it remains upright.",
+    "Use the right arm to pick up the handheld green bottle in the correct orientation",
+    "Hold the green bottle with indented base upright after lifting with the right arm",
+    "Utilize the right arm to lift the plastic bottle while keeping it head-up.",
+    "Lift the bottle with ridges near base head-up from the table",
+    "Grab the medium-sized green bottle from the table and hold it head-up.",
+    "Find the smooth green plastic bottle on the table and raise it using the right arm.",
+    "Take the smooth green plastic bottle from the table and keep upright",
+    "Lift the medium green bottle with capped neck upright carefully using the right arm",
+    "Locate the handheld green bottle and lift it upright with the right arm.",
+    "Lift the plastic bottle from the table with the right arm",
+    "Pick the bottle with white printed label head-up using the right arm",
+    "Use the right arm to lift the medium-sized green bottle head-up"
+  ],
+  "unseen": [
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle using the correct arm",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle using the correct arm",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle using the correct arm",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle using the correct arm",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm."
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carefully grab the bottle with white neck and red top head-up",
+    "Use the right arm to pick up the brown bottle with red label from the table.",
+    "Hold the hand-sized soda bottle head-up after lifting it.",
+    "Pick the hand-sized soda bottle head-up and hold it steady.",
+    "Lift the hand-sized soda bottle from the table with the right arm",
+    "Pick up the bottle with ridges on bottom upright from the table",
+    "Find the bottle with ridges on bottom on the table and raise it using the right arm.",
+    "Raise the long thin bottle from the table using the correct arm, the right arm.",
+    "Grab the red-capped bottle from the table and hold it head-up.",
+    "Pick the Coca-Cola bottle and keep it upright",
+    "Use the right arm to lift the narrow-necked bottle head-up",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Grab the medium dark brown bottle with the right arm in a head-up way",
+    "Using the right arm, pick the smooth bottle with red lid upright",
+    "Take the Coca-Cola bottle from the table and keep upright",
+    "Utilize the right arm to lift the hand-sized soda bottle while keeping it head-up.",
+    "Lift the red-capped bottle from the table upright",
+    "Pick up the narrow-necked bottle from the table carefully.",
+    "Grab the narrow-necked bottle and lift it into a head-up position",
+    "Lift the bottle with white neck and red top from the table without mentioning the arm.",
+    "Position the dark drink bottle with logo head-up and lift it",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Pick up the plastic drink bottle from the table using the right arm.",
+    "Use the correct arm to pick up the plastic drink bottle.",
+    "Use the right arm to pick up the smooth bottle with red lid in the correct orientation",
+    "Grab the medium dark brown bottle and lift it upward from the table.",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Use the right arm to pick the narrow-necked bottle up and keep it head-up.",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Lift the bottle the long thin bottle headup from the table",
+    "Lift the plastic drink bottle upright carefully using the right arm",
+    "Lift the bottle the bottle with ridges on bottom up from the table",
+    "Lift the medium dark brown bottle using the right arm and hold upright",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Grab the long thin bottle from the table with the right arm",
+    "Locate the plastic drink bottle and lift it upright with the right arm.",
+    "Use the right arm to hold the long thin bottle from the table",
+    "Grab the long thin bottle and lift it with the right arm",
+    "Hold the red-capped bottle upright from the table",
+    "Lift the bottle with white neck and red top head-up from the table",
+    "Hold the bottle with ridges on bottom upright after lifting with the right arm",
+    "Use the right arm to grab and lift the red-capped bottle head-up.",
+    "Grab the red-capped bottle head-up using the right arm from the table.",
+    "Lift the bottle with white neck and red top head-up from the table.",
+    "Lift the plastic drink bottle from the table and secure upright",
+    "Raise the red-capped bottle in a head-up position",
+    "Pick the narrow-necked bottle head-up using the right arm",
+    "Pick the plastic drink bottle up with the right arm ensuring it stays head-up.",
+    "Secure the brown bottle with red label upright with the right arm",
+    "Identify the smooth bottle with red lid and grab it with the right arm",
+    "Carefully grab the narrow-necked bottle head-up",
+    "Use the right arm to pick up the dark drink bottle with logo from the table.",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Pick the brown bottle with red label head-up and hold it steady.",
+    "Lift the bottle with ridges on bottom from the table with the right arm",
+    "Pick up the red-capped bottle upright from the table",
+    "Find the bottle with white neck and red top on the table and raise it using the right arm.",
+    "Raise the plastic drink bottle from the table using the correct arm, the right arm.",
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Use the right arm to lift the Coca-Cola bottle head-up",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Grab the hand-sized soda bottle with the right arm in a head-up way",
+    "Using the right arm, pick the plastic drink bottle upright",
+    "Take the hand-sized soda bottle from the table and keep upright",
+    "Utilize the right arm to lift the bottle with ridges on bottom while keeping it head-up.",
+    "Lift the narrow-necked bottle from the table upright",
+    "Pick up the dark drink bottle with logo from the table carefully.",
+    "Grab the hand-sized soda bottle and lift it into a head-up position",
+    "Lift the plastic drink bottle from the table without mentioning the arm.",
+    "Position the medium dark brown bottle head-up and lift it",
+    "Grab the smooth bottle with red lid and lift it upright",
+    "Pick up the bottle with white neck and red top from the table using the right arm.",
+    "Use the correct arm to pick up the Coca-Cola bottle.",
+    "Use the right arm to pick up the red-capped bottle in the correct orientation",
+    "Grab the red-capped bottle and lift it upward from the table.",
+    "Lift the brown bottle with red label off the table and hold it upright.",
+    "Use the right arm to pick the smooth bottle with red lid up and keep it head-up.",
+    "Pick the red-capped bottle upright from the table",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Lift the red-capped bottle upright carefully using the right arm",
+    "Lift the bottle the bottle with white neck and red top up from the table",
+    "Lift the medium dark brown bottle using the right arm and hold upright",
+    "Pick the brown bottle with red label upright from the table",
+    "Grab the bottle with white neck and red top from the table with the right arm",
+    "Locate the smooth bottle with red lid and lift it upright with the right arm.",
+    "Use the right arm to hold the bottle with white neck and red top from the table",
+    "Grab the Coca-Cola bottle and lift it with the right arm",
+    "Hold the brown bottle with red label upright from the table",
+    "Lift the plastic drink bottle head-up from the table",
+    "Hold the smooth bottle with red lid upright after lifting with the right arm",
+    "Use the right arm to grab and lift the long thin bottle head-up.",
+    "Grab the dark drink bottle with logo head-up using the right arm from the table.",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Lift the Coca-Cola bottle from the table and secure upright",
+    "Raise the brown bottle with red label in a head-up position",
+    "Pick the red-capped bottle head-up using the right arm",
+    "Pick the smooth bottle with red lid up with the right arm ensuring it stays head-up.",
+    "Secure the plastic drink bottle upright with the right arm",
+    "Identify the smooth bottle with red lid and grab it with the right arm"
+  ],
+  "unseen": [
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle carefully using the right arm"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with narrow top and lift it upward from the table.",
+    "Pick the bottle with rounded neck and keep it upright",
+    "Use the left arm to pick up the medium-sized green bottle in the correct orientation",
+    "Pick up the medium green bottle with capped neck from the table carefully.",
+    "Pick the bottle with narrow top upright from the table",
+    "Grab the smooth green plastic bottle and lift it upright",
+    "Pick the medium green bottle with capped neck up with the left arm ensuring it stays head-up.",
+    "Grab the bottle with white printed label with the left arm in a head-up way",
+    "Take the bottle with narrow top from the table and keep upright",
+    "Find the green bottle with indented base on the table and raise it using the left arm.",
+    "Using the left arm, pick the medium-sized green bottle upright",
+    "Use the left arm to pick up the medium green bottle from the table.",
+    "Lift the smooth green bottle head-up from the table",
+    "Lift the medium-sized green bottle from the table and secure upright",
+    "Lift the bottle with narrow top from the table with the left arm",
+    "Use the correct arm to pick up the medium green bottle with capped neck.",
+    "Lift the plastic bottle off the table and hold it upright.",
+    "Pick the bottle with rounded neck head-up using the right arm",
+    "Lift the smooth green bottle from the table without mentioning the arm.",
+    "Hold the bottle with white printed label upright after lifting with the left arm",
+    "Use the left arm to lift the smooth green plastic bottle head-up",
+    "Lift the medium green bottle ensuring it remains upright.",
+    "Pick the bottle with rounded neck upright from the table",
+    "Grab the medium green bottle with capped neck and lift it with the left arm",
+    "Raise the bottle with ridges near base from the table using the correct arm, the left arm.",
+    "Hold the bottle with narrow top upright from the table",
+    "Lift the smooth green bottle head-up from the table.",
+    "Identify the bottle with narrow top and grab it with the left arm",
+    "Grab the green bottle with indented base and lift it into a head-up position",
+    "Lift the bottle with white printed label from the table upright",
+    "Position the smooth green bottle head-up and lift it",
+    "Carefully grab the handheld green bottle head-up",
+    "Pick up the bottle with ridges near base upright from the table",
+    "Raise the bottle with rounded neck in a head-up position",
+    "Lift the bottle with rounded neck using the left arm and hold upright",
+    "Utilize the left arm to lift the medium green bottle while keeping it head-up.",
+    "Grab the medium-sized green bottle head-up using the left arm from the table.",
+    "Use the left arm to pick the bottle with narrow top up and keep it head-up.",
+    "Secure the smooth green plastic bottle upright with the left arm",
+    "Lift the bottle the green bottle with indented base headup from the table",
+    "Use the left arm to grab and lift the handheld green bottle head-up.",
+    "Pick the medium green bottle with capped neck head-up and hold it steady.",
+    "Locate the handheld green bottle and lift it upright with the left arm.",
+    "Grab the bottle with rounded neck from the table and hold it head-up.",
+    "Hold the bottle with ridges near base head-up after lifting it.",
+    "Lift the bottle the smooth green plastic bottle up from the table",
+    "Lift the green bottle with indented base upright carefully using the left arm",
+    "Use the left arm to hold the bottle with ridges near base from the table",
+    "Grab the medium green bottle with capped neck from the table with the left arm",
+    "Pick up the bottle with white printed label from the table using the left arm.",
+    "Grab the medium green bottle and lift it upward from the table.",
+    "Pick the medium green bottle with capped neck and keep it upright",
+    "Use the left arm to pick up the bottle with white printed label in the correct orientation",
+    "Pick up the smooth green plastic bottle from the table carefully.",
+    "Pick the medium green bottle upright from the table",
+    "Grab the smooth green bottle and lift it upright",
+    "Pick the medium-sized green bottle up with the left arm ensuring it stays head-up.",
+    "Grab the bottle with rounded neck with the left arm in a head-up way",
+    "Take the smooth green plastic bottle from the table and keep upright",
+    "Find the smooth green bottle on the table and raise it using the left arm.",
+    "Using the left arm, pick the bottle with white printed label upright",
+    "Use the left arm to pick up the smooth green plastic bottle from the table.",
+    "Lift the medium-sized green bottle head-up from the table",
+    "Lift the green bottle with indented base from the table and secure upright",
+    "Lift the medium green bottle from the table with the left arm",
+    "Use the correct arm to pick up the smooth green plastic bottle.",
+    "Lift the bottle with white printed label off the table and hold it upright.",
+    "Pick the plastic bottle head-up using the right arm",
+    "Lift the smooth green bottle from the table without mentioning the arm.",
+    "Hold the handheld green bottle upright after lifting with the left arm",
+    "Use the left arm to lift the medium green bottle with capped neck head-up",
+    "Lift the handheld green bottle ensuring it remains upright.",
+    "Pick the smooth green plastic bottle upright from the table",
+    "Grab the plastic bottle and lift it with the left arm",
+    "Raise the smooth green bottle from the table using the correct arm, the left arm.",
+    "Hold the medium-sized green bottle upright from the table",
+    "Lift the smooth green bottle head-up from the table.",
+    "Identify the handheld green bottle and grab it with the left arm",
+    "Grab the green bottle with indented base and lift it into a head-up position",
+    "Lift the medium green bottle with capped neck from the table upright",
+    "Position the smooth green plastic bottle head-up and lift it",
+    "Carefully grab the plastic bottle head-up",
+    "Pick up the green bottle with indented base upright from the table",
+    "Raise the handheld green bottle in a head-up position",
+    "Lift the smooth green plastic bottle using the left arm and hold upright",
+    "Utilize the left arm to lift the medium green bottle with capped neck while keeping it head-up.",
+    "Grab the medium green bottle with capped neck head-up using the left arm from the table.",
+    "Use the left arm to pick the bottle with rounded neck up and keep it head-up.",
+    "Secure the plastic bottle upright with the left arm",
+    "Lift the bottle the smooth green plastic bottle headup from the table",
+    "Use the left arm to grab and lift the medium-sized green bottle head-up.",
+    "Pick the medium green bottle head-up and hold it steady.",
+    "Locate the smooth green bottle and lift it upright with the left arm.",
+    "Grab the plastic bottle from the table and hold it head-up.",
+    "Hold the smooth green plastic bottle head-up after lifting it.",
+    "Lift the bottle the bottle with narrow top up from the table",
+    "Lift the plastic bottle upright carefully using the left arm",
+    "Use the left arm to hold the medium-sized green bottle from the table",
+    "Grab the plastic bottle from the table with the left arm",
+    "Pick up the bottle with white printed label from the table using the left arm."
+  ],
+  "unseen": [
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green bottle upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle from the table with the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle from the table with the left arm",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle from the table with the left arm",
+    "Use the left arm to grab the green bottle head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green bottle upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the green bottle head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the green bottle head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green bottle upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle from the table with the left arm",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Use the left arm to grab the green bottle with white label head-up."
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick up the narrow-necked bottle in the correct orientation",
+    "Raise the smooth bottle with red lid from the table using the correct arm, the right arm.",
+    "Use the right arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Lift the medium dark brown bottle from the table upright",
+    "Lift the brown bottle with red label upright carefully using the right arm",
+    "Locate the bottle with white neck and red top and lift it upright with the right arm.",
+    "Secure the dark drink bottle with logo upright with the right arm",
+    "Grab the plastic drink bottle and lift it upright",
+    "Lift the Coca-Cola bottle from the table without mentioning the arm.",
+    "Identify the plastic drink bottle and grab it with the right arm",
+    "Lift the bottle with white neck and red top from the table and secure upright",
+    "Pick up the narrow-necked bottle from the table carefully.",
+    "Lift the bottle the bottle with white neck and red top headup from the table",
+    "Pick the red-capped bottle upright from the table",
+    "Pick up the bottle with ridges on bottom from the table using the right arm.",
+    "Grab the smooth bottle with red lid and lift it upward from the table.",
+    "Pick the long thin bottle and keep it upright",
+    "Using the right arm, pick the narrow-necked bottle upright",
+    "Take the brown bottle with red label from the table and keep upright",
+    "Lift the brown bottle with red label ensuring it remains upright.",
+    "Lift the plastic drink bottle off the table and hold it upright.",
+    "Position the red-capped bottle head-up and lift it",
+    "Lift the bottle the narrow-necked bottle up from the table",
+    "Utilize the right arm to lift the bottle with white neck and red top while keeping it head-up.",
+    "Grab the bottle with white neck and red top and lift it into a head-up position",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Use the right arm to lift the bottle with white neck and red top head-up",
+    "Grab the narrow-necked bottle head-up using the right arm from the table.",
+    "Find the brown bottle with red label on the table and raise it using the right arm.",
+    "Use the correct arm to pick up the bottle with ridges on bottom.",
+    "Raise the medium dark brown bottle in a head-up position",
+    "Use the right arm to pick up the bottle with white neck and red top from the table.",
+    "Grab the long thin bottle from the table with the right arm",
+    "Hold the plastic drink bottle upright after lifting with the right arm",
+    "Lift the hand-sized soda bottle head-up from the table.",
+    "Grab the long thin bottle with the right arm in a head-up way",
+    "Hold the Coca-Cola bottle upright from the table",
+    "Grab the Coca-Cola bottle and lift it with the right arm",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Lift the long thin bottle head-up from the table",
+    "Hold the long thin bottle head-up after lifting it.",
+    "Pick the smooth bottle with red lid up with the right arm ensuring it stays head-up.",
+    "Pick up the Coca-Cola bottle upright from the table",
+    "Pick the bottle with white neck and red top head-up and hold it steady.",
+    "Grab the narrow-necked bottle from the table and hold it head-up.",
+    "Use the right arm to hold the red-capped bottle from the table",
+    "Lift the plastic drink bottle using the right arm and hold upright",
+    "Lift the red-capped bottle from the table with the right arm",
+    "Use the right arm to grab and lift the bottle with white neck and red top head-up.",
+    "Pick the medium dark brown bottle head-up using the right arm",
+    "Use the right arm to pick up the medium dark brown bottle in the correct orientation",
+    "Raise the dark drink bottle with logo from the table using the correct arm, the right arm.",
+    "Use the right arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Lift the red-capped bottle from the table upright",
+    "Lift the long thin bottle upright carefully using the right arm",
+    "Locate the medium dark brown bottle and lift it upright with the right arm.",
+    "Secure the bottle with ridges on bottom upright with the right arm",
+    "Grab the bottle with white neck and red top and lift it upright",
+    "Lift the red-capped bottle from the table without mentioning the arm.",
+    "Identify the red-capped bottle and grab it with the right arm",
+    "Lift the bottle with white neck and red top from the table and secure upright",
+    "Pick up the Coca-Cola bottle from the table carefully.",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Pick the red-capped bottle upright from the table",
+    "Pick up the Coca-Cola bottle from the table using the right arm.",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Pick the hand-sized soda bottle and keep it upright",
+    "Using the right arm, pick the narrow-necked bottle upright",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Lift the red-capped bottle ensuring it remains upright.",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Position the red-capped bottle head-up and lift it",
+    "Lift the bottle the Coca-Cola bottle up from the table",
+    "Utilize the right arm to lift the narrow-necked bottle while keeping it head-up.",
+    "Grab the plastic drink bottle and lift it into a head-up position",
+    "Carefully grab the bottle with white neck and red top head-up",
+    "Use the right arm to lift the plastic drink bottle head-up",
+    "Grab the bottle with white neck and red top head-up using the right arm from the table.",
+    "Find the bottle with ridges on bottom on the table and raise it using the right arm.",
+    "Use the correct arm to pick up the narrow-necked bottle.",
+    "Raise the narrow-necked bottle in a head-up position",
+    "Use the right arm to pick up the narrow-necked bottle from the table.",
+    "Grab the long thin bottle from the table with the right arm",
+    "Hold the brown bottle with red label upright after lifting with the right arm",
+    "Lift the long thin bottle head-up from the table.",
+    "Grab the dark drink bottle with logo with the right arm in a head-up way",
+    "Hold the red-capped bottle upright from the table",
+    "Grab the red-capped bottle and lift it with the right arm",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Lift the smooth bottle with red lid head-up from the table",
+    "Hold the hand-sized soda bottle head-up after lifting it.",
+    "Pick the smooth bottle with red lid up with the right arm ensuring it stays head-up.",
+    "Pick up the narrow-necked bottle upright from the table",
+    "Pick the bottle with ridges on bottom head-up and hold it steady.",
+    "Grab the smooth bottle with red lid from the table and hold it head-up.",
+    "Use the right arm to hold the smooth bottle with red lid from the table",
+    "Lift the red-capped bottle using the right arm and hold upright",
+    "Lift the red-capped bottle from the table with the right arm",
+    "Use the right arm to grab and lift the smooth bottle with red lid head-up.",
+    "Pick the bottle with ridges on bottom head-up using the right arm"
+  ],
+  "unseen": [
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick up the bottle with ridges near base in the correct orientation",
+    "Pick up the medium-sized green bottle upright from the table",
+    "Carefully grab the medium green bottle with capped neck head-up",
+    "Hold the smooth green bottle upright after lifting with the left arm",
+    "Pick the bottle with ridges near base head-up and hold it steady.",
+    "Lift the bottle with white printed label head-up from the table",
+    "Grab the bottle with narrow top and lift it upward from the table.",
+    "Grab the bottle with narrow top from the table and hold it head-up.",
+    "Identify the bottle with ridges near base and grab it with the left arm",
+    "Pick the bottle with narrow top head-up using the right arm",
+    "Lift the smooth green plastic bottle using the left arm and hold upright",
+    "Position the green bottle with indented base head-up and lift it",
+    "Use the left arm to lift the medium green bottle with capped neck head-up",
+    "Lift the medium green bottle with capped neck upright carefully using the left arm",
+    "Grab the bottle with rounded neck and lift it into a head-up position",
+    "Locate the smooth green bottle and lift it upright with the left arm.",
+    "Pick the green bottle with indented base upright from the table",
+    "Grab the green bottle with indented base and lift it upright",
+    "Lift the bottle with rounded neck off the table and hold it upright.",
+    "Pick the bottle with narrow top and keep it upright",
+    "Lift the medium green bottle from the table and secure upright",
+    "Use the left arm to pick up the medium green bottle from the table.",
+    "Grab the green bottle with indented base and lift it with the left arm",
+    "Take the bottle with ridges near base from the table and keep upright",
+    "Hold the smooth green plastic bottle upright from the table",
+    "Pick the smooth green bottle up with the left arm ensuring it stays head-up.",
+    "Pick up the medium green bottle with capped neck from the table using the left arm.",
+    "Utilize the left arm to lift the bottle with ridges near base while keeping it head-up.",
+    "Use the left arm to grab and lift the medium green bottle head-up.",
+    "Pick the plastic bottle upright from the table",
+    "Lift the bottle with ridges near base head-up from the table.",
+    "Pick up the medium green bottle from the table carefully.",
+    "Raise the medium green bottle with capped neck in a head-up position",
+    "Secure the handheld green bottle upright with the left arm",
+    "Find the plastic bottle on the table and raise it using the left arm.",
+    "Using the left arm, pick the green bottle with indented base upright",
+    "Lift the green bottle with indented base from the table upright",
+    "Lift the bottle with narrow top from the table with the left arm",
+    "Grab the bottle with white printed label from the table with the left arm",
+    "Lift the bottle the smooth green plastic bottle headup from the table",
+    "Lift the medium green bottle ensuring it remains upright.",
+    "Grab the medium green bottle with the left arm in a head-up way",
+    "Lift the medium green bottle with capped neck from the table without mentioning the arm.",
+    "Raise the medium-sized green bottle from the table using the correct arm, the left arm.",
+    "Grab the plastic bottle head-up using the left arm from the table.",
+    "Use the left arm to hold the medium green bottle with capped neck from the table",
+    "Use the correct arm to pick up the bottle with ridges near base.",
+    "Use the left arm to pick the plastic bottle up and keep it head-up.",
+    "Lift the bottle the smooth green plastic bottle up from the table",
+    "Hold the green bottle with indented base head-up after lifting it.",
+    "Use the left arm to pick up the smooth green plastic bottle in the correct orientation",
+    "Pick up the medium green bottle with capped neck upright from the table",
+    "Carefully grab the smooth green bottle head-up",
+    "Hold the bottle with white printed label upright after lifting with the left arm",
+    "Pick the bottle with white printed label head-up and hold it steady.",
+    "Lift the medium green bottle with capped neck head-up from the table",
+    "Grab the smooth green bottle and lift it upward from the table.",
+    "Grab the plastic bottle from the table and hold it head-up.",
+    "Identify the bottle with ridges near base and grab it with the left arm",
+    "Pick the bottle with white printed label head-up using the right arm",
+    "Lift the smooth green bottle using the left arm and hold upright",
+    "Position the smooth green plastic bottle head-up and lift it",
+    "Use the left arm to lift the bottle with ridges near base head-up",
+    "Lift the bottle with ridges near base upright carefully using the left arm",
+    "Grab the bottle with ridges near base and lift it into a head-up position",
+    "Locate the medium-sized green bottle and lift it upright with the left arm.",
+    "Pick the bottle with narrow top upright from the table",
+    "Grab the bottle with narrow top and lift it upright",
+    "Lift the medium-sized green bottle off the table and hold it upright.",
+    "Pick the bottle with white printed label and keep it upright",
+    "Lift the medium-sized green bottle from the table and secure upright",
+    "Use the left arm to pick up the medium green bottle from the table.",
+    "Grab the green bottle with indented base and lift it with the left arm",
+    "Take the green bottle with indented base from the table and keep upright",
+    "Hold the handheld green bottle upright from the table",
+    "Pick the medium green bottle with capped neck up with the left arm ensuring it stays head-up.",
+    "Pick up the medium-sized green bottle from the table using the left arm.",
+    "Utilize the left arm to lift the green bottle with indented base while keeping it head-up.",
+    "Use the left arm to grab and lift the bottle with ridges near base head-up.",
+    "Pick the bottle with white printed label upright from the table",
+    "Lift the medium-sized green bottle head-up from the table.",
+    "Pick up the smooth green plastic bottle from the table carefully.",
+    "Raise the bottle with white printed label in a head-up position",
+    "Secure the green bottle with indented base upright with the left arm",
+    "Find the bottle with ridges near base on the table and raise it using the left arm.",
+    "Using the left arm, pick the green bottle with indented base upright",
+    "Lift the smooth green plastic bottle from the table upright",
+    "Lift the green bottle with indented base from the table with the left arm",
+    "Grab the smooth green bottle from the table with the left arm",
+    "Lift the bottle the green bottle with indented base headup from the table",
+    "Lift the bottle with white printed label ensuring it remains upright.",
+    "Grab the medium-sized green bottle with the left arm in a head-up way",
+    "Lift the medium green bottle with capped neck from the table without mentioning the arm.",
+    "Raise the bottle with narrow top from the table using the correct arm, the left arm.",
+    "Grab the bottle with ridges near base head-up using the left arm from the table.",
+    "Use the left arm to hold the medium green bottle with capped neck from the table",
+    "Use the correct arm to pick up the medium-sized green bottle.",
+    "Use the left arm to pick the medium-sized green bottle up and keep it head-up.",
+    "Lift the bottle the medium-sized green bottle up from the table",
+    "Hold the bottle with white printed label head-up after lifting it."
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Lift the green bottle from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the green bottle upright",
+    "Grab the green bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green bottle from the table using the left arm.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the green bottle upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green bottle from the table using the left arm.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle from the table with the left arm"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode21.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, pick the smooth green plastic bottle upright",
+    "Carefully grab the smooth green bottle head-up",
+    "Raise the handheld green bottle from the table using the correct arm, the left arm.",
+    "Grab the bottle with narrow top from the table and hold it head-up.",
+    "Utilize the left arm to lift the bottle with ridges near base while keeping it head-up.",
+    "Grab the bottle with narrow top and lift it into a head-up position",
+    "Lift the medium-sized green bottle upright carefully using the left arm",
+    "Pick the bottle with white printed label upright from the table",
+    "Take the smooth green bottle from the table and keep upright",
+    "Pick the bottle with rounded neck head-up using the right arm",
+    "Pick the bottle with white printed label upright from the table",
+    "Use the left arm to pick up the bottle with narrow top from the table.",
+    "Pick up the green bottle with indented base from the table using the left arm.",
+    "Lift the bottle the medium green bottle headup from the table",
+    "Lift the bottle the plastic bottle up from the table",
+    "Find the medium-sized green bottle on the table and raise it using the left arm.",
+    "Pick the bottle with narrow top head-up and hold it steady.",
+    "Lift the medium-sized green bottle ensuring it remains upright.",
+    "Grab the smooth green bottle and lift it with the left arm",
+    "Use the left arm to pick up the handheld green bottle in the correct orientation",
+    "Position the smooth green plastic bottle head-up and lift it",
+    "Lift the smooth green bottle from the table upright",
+    "Use the left arm to pick the smooth green plastic bottle up and keep it head-up.",
+    "Raise the medium-sized green bottle in a head-up position",
+    "Use the left arm to hold the medium green bottle with capped neck from the table",
+    "Grab the medium-sized green bottle from the table with the left arm",
+    "Hold the bottle with white printed label upright from the table",
+    "Secure the medium-sized green bottle upright with the left arm",
+    "Grab the bottle with narrow top and lift it upright",
+    "Lift the bottle with narrow top head-up from the table.",
+    "Use the left arm to grab and lift the handheld green bottle head-up.",
+    "Lift the medium-sized green bottle using the left arm and hold upright",
+    "Pick up the medium green bottle with capped neck upright from the table",
+    "Hold the smooth green bottle upright after lifting with the left arm",
+    "Grab the bottle with narrow top head-up using the left arm from the table.",
+    "Grab the medium green bottle with capped neck and lift it upward from the table.",
+    "Grab the plastic bottle with the left arm in a head-up way",
+    "Lift the smooth green plastic bottle from the table with the left arm",
+    "Use the correct arm to pick up the green bottle with indented base.",
+    "Pick the smooth green plastic bottle up with the left arm ensuring it stays head-up.",
+    "Lift the bottle with ridges near base from the table without mentioning the arm.",
+    "Identify the medium-sized green bottle and grab it with the left arm",
+    "Lift the medium green bottle with capped neck head-up from the table",
+    "Use the left arm to lift the plastic bottle head-up",
+    "Lift the plastic bottle from the table and secure upright",
+    "Locate the bottle with rounded neck and lift it upright with the left arm.",
+    "Hold the medium green bottle with capped neck head-up after lifting it.",
+    "Pick the smooth green bottle and keep it upright",
+    "Pick up the bottle with narrow top from the table carefully.",
+    "Lift the medium green bottle off the table and hold it upright.",
+    "Using the left arm, pick the bottle with white printed label upright",
+    "Carefully grab the bottle with white printed label head-up",
+    "Raise the green bottle with indented base from the table using the correct arm, the left arm.",
+    "Grab the smooth green bottle from the table and hold it head-up.",
+    "Utilize the left arm to lift the medium-sized green bottle while keeping it head-up.",
+    "Grab the medium-sized green bottle and lift it into a head-up position",
+    "Lift the bottle with ridges near base upright carefully using the left arm",
+    "Pick the bottle with rounded neck upright from the table",
+    "Take the bottle with ridges near base from the table and keep upright",
+    "Pick the bottle with ridges near base head-up using the right arm",
+    "Pick the handheld green bottle upright from the table",
+    "Use the left arm to pick up the handheld green bottle from the table.",
+    "Pick up the smooth green bottle from the table using the left arm.",
+    "Lift the bottle the smooth green plastic bottle headup from the table",
+    "Lift the bottle the handheld green bottle up from the table",
+    "Find the medium-sized green bottle on the table and raise it using the left arm.",
+    "Pick the handheld green bottle head-up and hold it steady.",
+    "Lift the bottle with rounded neck ensuring it remains upright.",
+    "Grab the bottle with white printed label and lift it with the left arm",
+    "Use the left arm to pick up the medium-sized green bottle in the correct orientation",
+    "Position the medium-sized green bottle head-up and lift it",
+    "Lift the medium green bottle from the table upright",
+    "Use the left arm to pick the smooth green plastic bottle up and keep it head-up.",
+    "Raise the medium-sized green bottle in a head-up position",
+    "Use the left arm to hold the bottle with narrow top from the table",
+    "Grab the bottle with rounded neck from the table with the left arm",
+    "Hold the medium green bottle upright from the table",
+    "Secure the bottle with rounded neck upright with the left arm",
+    "Grab the medium-sized green bottle and lift it upright",
+    "Lift the smooth green bottle head-up from the table.",
+    "Use the left arm to grab and lift the medium green bottle with capped neck head-up.",
+    "Lift the bottle with ridges near base using the left arm and hold upright",
+    "Pick up the plastic bottle upright from the table",
+    "Hold the smooth green bottle upright after lifting with the left arm",
+    "Grab the smooth green plastic bottle head-up using the left arm from the table.",
+    "Grab the handheld green bottle and lift it upward from the table.",
+    "Grab the bottle with ridges near base with the left arm in a head-up way",
+    "Lift the smooth green bottle from the table with the left arm",
+    "Use the correct arm to pick up the medium-sized green bottle.",
+    "Pick the medium green bottle up with the left arm ensuring it stays head-up.",
+    "Lift the bottle with white printed label from the table without mentioning the arm.",
+    "Identify the bottle with white printed label and grab it with the left arm",
+    "Lift the bottle with white printed label head-up from the table",
+    "Use the left arm to lift the medium green bottle head-up",
+    "Lift the medium green bottle with capped neck from the table and secure upright",
+    "Locate the smooth green bottle and lift it upright with the left arm.",
+    "Hold the medium green bottle with capped neck head-up after lifting it.",
+    "Pick the medium green bottle with capped neck and keep it upright",
+    "Pick up the smooth green bottle from the table carefully.",
+    "Lift the bottle with ridges near base off the table and hold it upright."
+  ],
+  "unseen": [
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green bottle from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle upright"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode27.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the narrow-necked bottle head-up using the right arm from the table.",
+    "Pick up the red-capped bottle from the table carefully.",
+    "Lift the bottle the medium dark brown bottle up from the table",
+    "Identify the red-capped bottle and grab it with the right arm",
+    "Hold the Coca-Cola bottle upright after lifting with the right arm",
+    "Position the smooth bottle with red lid head-up and lift it",
+    "Utilize the right arm to lift the long thin bottle while keeping it head-up.",
+    "Grab the brown bottle with red label and lift it with the right arm",
+    "Use the right arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Hold the red-capped bottle head-up after lifting it.",
+    "Lift the bottle with white neck and red top from the table and secure upright",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Pick up the long thin bottle from the table using the right arm.",
+    "Lift the hand-sized soda bottle from the table without mentioning the arm.",
+    "Grab the plastic drink bottle and lift it upward from the table.",
+    "Find the Coca-Cola bottle on the table and raise it using the right arm.",
+    "Lift the plastic drink bottle off the table and hold it upright.",
+    "Lift the bottle the plastic drink bottle headup from the table",
+    "Raise the red-capped bottle from the table using the correct arm, the right arm.",
+    "Grab the bottle with ridges on bottom from the table and hold it head-up.",
+    "Use the right arm to lift the narrow-necked bottle head-up",
+    "Lift the plastic drink bottle upright carefully using the right arm",
+    "Use the right arm to pick up the hand-sized soda bottle in the correct orientation",
+    "Pick the bottle with white neck and red top up with the right arm ensuring it stays head-up.",
+    "Locate the brown bottle with red label and lift it upright with the right arm.",
+    "Grab the medium dark brown bottle from the table with the right arm",
+    "Use the right arm to hold the plastic drink bottle from the table",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Pick the bottle with ridges on bottom and keep it upright",
+    "Raise the smooth bottle with red lid in a head-up position",
+    "Lift the brown bottle with red label head-up from the table",
+    "Grab the bottle with ridges on bottom and lift it upright",
+    "Lift the dark drink bottle with logo from the table with the right arm",
+    "Hold the red-capped bottle upright from the table",
+    "Pick the hand-sized soda bottle head-up and hold it steady.",
+    "Use the correct arm to pick up the hand-sized soda bottle.",
+    "Pick up the medium dark brown bottle upright from the table",
+    "Lift the medium dark brown bottle using the right arm and hold upright",
+    "Secure the narrow-necked bottle upright with the right arm",
+    "Use the right arm to pick up the narrow-necked bottle from the table.",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Pick the long thin bottle head-up using the right arm",
+    "Use the right arm to grab and lift the smooth bottle with red lid head-up.",
+    "Using the right arm, pick the brown bottle with red label upright",
+    "Grab the hand-sized soda bottle and lift it into a head-up position",
+    "Grab the medium dark brown bottle with the right arm in a head-up way",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Lift the Coca-Cola bottle from the table upright",
+    "Grab the dark drink bottle with logo head-up using the right arm from the table.",
+    "Pick up the brown bottle with red label from the table carefully.",
+    "Lift the bottle the dark drink bottle with logo up from the table",
+    "Identify the Coca-Cola bottle and grab it with the right arm",
+    "Hold the hand-sized soda bottle upright after lifting with the right arm",
+    "Position the brown bottle with red label head-up and lift it",
+    "Utilize the right arm to lift the brown bottle with red label while keeping it head-up.",
+    "Grab the plastic drink bottle and lift it with the right arm",
+    "Use the right arm to pick the plastic drink bottle up and keep it head-up.",
+    "Hold the red-capped bottle head-up after lifting it.",
+    "Lift the narrow-necked bottle from the table and secure upright",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Lift the narrow-necked bottle head-up from the table.",
+    "Pick up the bottle with white neck and red top from the table using the right arm.",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Grab the dark drink bottle with logo and lift it upward from the table.",
+    "Find the dark drink bottle with logo on the table and raise it using the right arm.",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Lift the bottle the bottle with white neck and red top headup from the table",
+    "Raise the hand-sized soda bottle from the table using the correct arm, the right arm.",
+    "Grab the hand-sized soda bottle from the table and hold it head-up.",
+    "Use the right arm to lift the red-capped bottle head-up",
+    "Lift the brown bottle with red label upright carefully using the right arm",
+    "Use the right arm to pick up the narrow-necked bottle in the correct orientation",
+    "Pick the plastic drink bottle up with the right arm ensuring it stays head-up.",
+    "Locate the long thin bottle and lift it upright with the right arm.",
+    "Grab the Coca-Cola bottle from the table with the right arm",
+    "Use the right arm to hold the brown bottle with red label from the table",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Pick the hand-sized soda bottle and keep it upright",
+    "Raise the narrow-necked bottle in a head-up position",
+    "Lift the plastic drink bottle head-up from the table",
+    "Grab the bottle with ridges on bottom and lift it upright",
+    "Lift the hand-sized soda bottle from the table with the right arm",
+    "Hold the bottle with ridges on bottom upright from the table",
+    "Pick the long thin bottle head-up and hold it steady.",
+    "Use the correct arm to pick up the Coca-Cola bottle.",
+    "Pick up the dark drink bottle with logo upright from the table",
+    "Lift the red-capped bottle using the right arm and hold upright",
+    "Secure the long thin bottle upright with the right arm",
+    "Use the right arm to pick up the bottle with white neck and red top from the table.",
+    "Pick the medium dark brown bottle upright from the table",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Use the right arm to grab and lift the red-capped bottle head-up.",
+    "Using the right arm, pick the smooth bottle with red lid upright",
+    "Grab the plastic drink bottle and lift it into a head-up position",
+    "Grab the brown bottle with red label with the right arm in a head-up way",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Take the medium dark brown bottle from the table and keep upright",
+    "Lift the dark drink bottle with logo from the table upright"
+  ],
+  "unseen": [
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle from the table head-up."
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode28.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle with narrow top head-up from the table",
+    "Lift the medium green bottle upright carefully using the right arm",
+    "Secure the medium green bottle upright with the right arm",
+    "Pick the medium green bottle with capped neck and keep it upright",
+    "Hold the bottle with white printed label upright after lifting with the right arm",
+    "Utilize the right arm to lift the smooth green bottle while keeping it head-up.",
+    "Lift the green bottle with indented base from the table with the right arm",
+    "Lift the medium-sized green bottle ensuring it remains upright.",
+    "Raise the medium green bottle in a head-up position",
+    "Take the bottle with rounded neck from the table and keep upright",
+    "Lift the handheld green bottle from the table without mentioning the arm.",
+    "Carefully grab the smooth green bottle head-up",
+    "Pick the medium-sized green bottle head-up using the right arm",
+    "Grab the bottle with narrow top head-up using the right arm from the table.",
+    "Grab the green bottle with indented base and lift it with the right arm",
+    "Lift the bottle the bottle with narrow top up from the table",
+    "Pick up the plastic bottle upright from the table",
+    "Grab the medium green bottle and lift it into a head-up position",
+    "Find the medium green bottle on the table and raise it using the right arm.",
+    "Pick the medium-sized green bottle upright from the table",
+    "Lift the medium-sized green bottle from the table and secure upright",
+    "Use the correct arm to pick up the smooth green bottle.",
+    "Raise the bottle with narrow top from the table using the correct arm, the right arm.",
+    "Use the right arm to pick the plastic bottle up and keep it head-up.",
+    "Grab the medium-sized green bottle and lift it upright",
+    "Use the right arm to grab and lift the medium green bottle with capped neck head-up.",
+    "Locate the smooth green plastic bottle and lift it upright with the right arm.",
+    "Hold the bottle with white printed label head-up after lifting it.",
+    "Lift the bottle with narrow top off the table and hold it upright.",
+    "Lift the bottle with rounded neck from the table upright",
+    "Grab the bottle with white printed label and lift it upward from the table.",
+    "Pick the smooth green plastic bottle up with the right arm ensuring it stays head-up.",
+    "Lift the bottle with ridges near base head-up from the table.",
+    "Position the medium green bottle with capped neck head-up and lift it",
+    "Lift the bottle with narrow top using the right arm and hold upright",
+    "Using the right arm, pick the smooth green bottle upright",
+    "Grab the plastic bottle with the right arm in a head-up way",
+    "Identify the smooth green bottle and grab it with the right arm",
+    "Use the right arm to hold the bottle with rounded neck from the table",
+    "Use the right arm to pick up the smooth green bottle in the correct orientation",
+    "Hold the smooth green bottle upright from the table",
+    "Use the right arm to pick up the bottle with narrow top from the table.",
+    "Pick up the plastic bottle from the table carefully.",
+    "Use the right arm to lift the smooth green bottle head-up",
+    "Lift the bottle the bottle with white printed label headup from the table",
+    "Pick the bottle with ridges near base head-up and hold it steady.",
+    "Grab the green bottle with indented base from the table and hold it head-up.",
+    "Pick the bottle with rounded neck upright from the table",
+    "Grab the plastic bottle from the table with the right arm",
+    "Pick up the bottle with narrow top from the table using the right arm.",
+    "Lift the bottle with rounded neck head-up from the table",
+    "Lift the handheld green bottle upright carefully using the right arm",
+    "Secure the smooth green bottle upright with the right arm",
+    "Pick the bottle with narrow top and keep it upright",
+    "Hold the smooth green bottle upright after lifting with the right arm",
+    "Utilize the right arm to lift the bottle with white printed label while keeping it head-up.",
+    "Lift the plastic bottle from the table with the right arm",
+    "Lift the bottle with white printed label ensuring it remains upright.",
+    "Raise the plastic bottle in a head-up position",
+    "Take the green bottle with indented base from the table and keep upright",
+    "Lift the medium green bottle with capped neck from the table without mentioning the arm.",
+    "Carefully grab the handheld green bottle head-up",
+    "Pick the plastic bottle head-up using the right arm",
+    "Grab the medium green bottle head-up using the right arm from the table.",
+    "Grab the bottle with white printed label and lift it with the right arm",
+    "Lift the bottle the bottle with narrow top up from the table",
+    "Pick up the bottle with white printed label upright from the table",
+    "Grab the bottle with narrow top and lift it into a head-up position",
+    "Find the plastic bottle on the table and raise it using the right arm.",
+    "Pick the smooth green plastic bottle upright from the table",
+    "Lift the bottle with ridges near base from the table and secure upright",
+    "Use the correct arm to pick up the handheld green bottle.",
+    "Raise the medium green bottle with capped neck from the table using the correct arm, the right arm.",
+    "Use the right arm to pick the bottle with narrow top up and keep it head-up.",
+    "Grab the medium green bottle with capped neck and lift it upright",
+    "Use the right arm to grab and lift the medium green bottle with capped neck head-up.",
+    "Locate the medium green bottle with capped neck and lift it upright with the right arm.",
+    "Hold the smooth green plastic bottle head-up after lifting it.",
+    "Lift the green bottle with indented base off the table and hold it upright.",
+    "Lift the green bottle with indented base from the table upright",
+    "Grab the bottle with rounded neck and lift it upward from the table.",
+    "Pick the bottle with rounded neck up with the right arm ensuring it stays head-up.",
+    "Lift the bottle with narrow top head-up from the table.",
+    "Position the medium green bottle head-up and lift it",
+    "Lift the bottle with rounded neck using the right arm and hold upright",
+    "Using the right arm, pick the plastic bottle upright",
+    "Grab the handheld green bottle with the right arm in a head-up way",
+    "Identify the green bottle with indented base and grab it with the right arm",
+    "Use the right arm to hold the medium green bottle from the table",
+    "Use the right arm to pick up the plastic bottle in the correct orientation",
+    "Hold the bottle with white printed label upright from the table",
+    "Use the right arm to pick up the medium-sized green bottle from the table.",
+    "Pick up the medium green bottle from the table carefully.",
+    "Use the right arm to lift the smooth green bottle head-up",
+    "Lift the bottle the handheld green bottle headup from the table",
+    "Pick the medium green bottle head-up and hold it steady.",
+    "Grab the medium-sized green bottle from the table and hold it head-up.",
+    "Pick the plastic bottle upright from the table",
+    "Grab the bottle with narrow top from the table with the right arm",
+    "Pick up the smooth green plastic bottle from the table using the right arm."
+  ],
+  "unseen": [
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle from the table head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Pick up the green bottle using the right arm in an upright position"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode32.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic drink bottle up with the left arm ensuring it stays head-up.",
+    "Secure the Coca-Cola bottle upright with the left arm",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Use the left arm to grab and lift the red-capped bottle head-up.",
+    "Use the left arm to pick the brown bottle with red label up and keep it head-up.",
+    "Find the dark drink bottle with logo on the table and raise it using the left arm.",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Use the left arm to lift the plastic drink bottle head-up",
+    "Use the left arm to pick up the narrow-necked bottle from the table.",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Hold the medium dark brown bottle head-up after lifting it.",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Grab the long thin bottle and lift it upright",
+    "Pick up the bottle with ridges on bottom from the table using the left arm.",
+    "Using the left arm, pick the smooth bottle with red lid upright",
+    "Lift the bottle with white neck and red top off the table and hold it upright.",
+    "Lift the plastic drink bottle from the table upright",
+    "Use the left arm to hold the bottle with white neck and red top from the table",
+    "Utilize the left arm to lift the long thin bottle while keeping it head-up.",
+    "Grab the bottle with white neck and red top and lift it with the left arm",
+    "Lift the bottle with ridges on bottom from the table and secure upright",
+    "Raise the brown bottle with red label in a head-up position",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Grab the medium dark brown bottle and lift it upward from the table.",
+    "Use the left arm to pick up the narrow-necked bottle in the correct orientation",
+    "Pick up the narrow-necked bottle upright from the table",
+    "Lift the brown bottle with red label upright carefully using the left arm",
+    "Hold the hand-sized soda bottle upright from the table",
+    "Hold the hand-sized soda bottle upright after lifting with the left arm",
+    "Lift the hand-sized soda bottle from the table with the left arm",
+    "Use the correct arm to pick up the dark drink bottle with logo.",
+    "Grab the plastic drink bottle from the table with the left arm",
+    "Lift the brown bottle with red label using the left arm and hold upright",
+    "Locate the narrow-necked bottle and lift it upright with the left arm.",
+    "Lift the bottle with ridges on bottom ensuring it remains upright.",
+    "Raise the narrow-necked bottle from the table using the correct arm, the left arm.",
+    "Pick up the plastic drink bottle from the table carefully.",
+    "Position the smooth bottle with red lid head-up and lift it",
+    "Grab the brown bottle with red label with the left arm in a head-up way",
+    "Lift the plastic drink bottle from the table without mentioning the arm.",
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Identify the hand-sized soda bottle and grab it with the left arm",
+    "Lift the bottle the hand-sized soda bottle headup from the table",
+    "Take the bottle with ridges on bottom from the table and keep upright",
+    "Lift the narrow-necked bottle head-up from the table.",
+    "Lift the bottle the medium dark brown bottle up from the table",
+    "Lift the hand-sized soda bottle head-up from the table",
+    "Pick the long thin bottle upright from the table",
+    "Grab the dark drink bottle with logo head-up using the left arm from the table.",
+    "Pick the dark drink bottle with logo up with the left arm ensuring it stays head-up.",
+    "Secure the dark drink bottle with logo upright with the left arm",
+    "Pick the narrow-necked bottle and keep it upright",
+    "Use the left arm to grab and lift the hand-sized soda bottle head-up.",
+    "Use the left arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Find the bottle with ridges on bottom on the table and raise it using the left arm.",
+    "Grab the hand-sized soda bottle and lift it into a head-up position",
+    "Use the left arm to lift the narrow-necked bottle head-up",
+    "Use the left arm to pick up the bottle with white neck and red top from the table.",
+    "Pick the red-capped bottle head-up and hold it steady.",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Carefully grab the medium dark brown bottle head-up",
+    "Pick the long thin bottle head-up using the right arm",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Pick up the red-capped bottle from the table using the left arm.",
+    "Using the left arm, pick the plastic drink bottle upright",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Lift the brown bottle with red label from the table upright",
+    "Use the left arm to hold the plastic drink bottle from the table",
+    "Utilize the left arm to lift the bottle with white neck and red top while keeping it head-up.",
+    "Grab the hand-sized soda bottle and lift it with the left arm",
+    "Lift the long thin bottle from the table and secure upright",
+    "Raise the dark drink bottle with logo in a head-up position",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Grab the brown bottle with red label and lift it upward from the table.",
+    "Use the left arm to pick up the brown bottle with red label in the correct orientation",
+    "Pick up the Coca-Cola bottle upright from the table",
+    "Lift the red-capped bottle upright carefully using the left arm",
+    "Hold the brown bottle with red label upright from the table",
+    "Hold the smooth bottle with red lid upright after lifting with the left arm",
+    "Lift the bottle with white neck and red top from the table with the left arm",
+    "Use the correct arm to pick up the Coca-Cola bottle.",
+    "Grab the dark drink bottle with logo from the table with the left arm",
+    "Lift the smooth bottle with red lid using the left arm and hold upright",
+    "Locate the red-capped bottle and lift it upright with the left arm.",
+    "Lift the smooth bottle with red lid ensuring it remains upright.",
+    "Raise the brown bottle with red label from the table using the correct arm, the left arm.",
+    "Pick up the bottle with ridges on bottom from the table carefully.",
+    "Position the brown bottle with red label head-up and lift it",
+    "Grab the red-capped bottle with the left arm in a head-up way",
+    "Lift the hand-sized soda bottle from the table without mentioning the arm.",
+    "Grab the medium dark brown bottle from the table and hold it head-up.",
+    "Identify the long thin bottle and grab it with the left arm",
+    "Lift the bottle the plastic drink bottle headup from the table",
+    "Take the brown bottle with red label from the table and keep upright",
+    "Lift the smooth bottle with red lid head-up from the table.",
+    "Lift the bottle the long thin bottle up from the table",
+    "Lift the Coca-Cola bottle head-up from the table",
+    "Pick the long thin bottle upright from the table",
+    "Grab the plastic drink bottle head-up using the left arm from the table."
+  ],
+  "unseen": [
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the bottle the brown bottle"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode36.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the bottle with ridges on bottom in a head-up position",
+    "Hold the narrow-necked bottle head-up after lifting it.",
+    "Use the left arm to lift the bottle with ridges on bottom head-up",
+    "Pick the hand-sized soda bottle and keep it upright",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Position the long thin bottle head-up and lift it",
+    "Use the left arm to pick the hand-sized soda bottle up and keep it head-up.",
+    "Lift the Coca-Cola bottle from the table and secure upright",
+    "Secure the bottle with white neck and red top upright with the left arm",
+    "Use the correct arm to pick up the narrow-necked bottle.",
+    "Utilize the left arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Hold the narrow-necked bottle upright from the table",
+    "Raise the red-capped bottle from the table using the correct arm, the left arm.",
+    "Take the hand-sized soda bottle from the table and keep upright",
+    "Lift the long thin bottle from the table upright",
+    "Identify the hand-sized soda bottle and grab it with the left arm",
+    "Grab the hand-sized soda bottle with the left arm in a head-up way",
+    "Grab the hand-sized soda bottle and lift it with the left arm",
+    "Lift the narrow-necked bottle head-up from the table.",
+    "Lift the bottle the bottle with white neck and red top up from the table",
+    "Use the left arm to pick up the dark drink bottle with logo from the table.",
+    "Hold the hand-sized soda bottle upright after lifting with the left arm",
+    "Use the left arm to pick up the hand-sized soda bottle in the correct orientation",
+    "Pick the brown bottle with red label head-up and hold it steady.",
+    "Lift the long thin bottle upright carefully using the left arm",
+    "Pick up the dark drink bottle with logo upright from the table",
+    "Grab the narrow-necked bottle from the table and hold it head-up.",
+    "Pick the red-capped bottle upright from the table",
+    "Locate the medium dark brown bottle and lift it upright with the left arm.",
+    "Lift the medium dark brown bottle from the table with the left arm",
+    "Grab the bottle with white neck and red top head-up using the left arm from the table.",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Grab the brown bottle with red label and lift it upright",
+    "Pick up the Coca-Cola bottle from the table using the left arm.",
+    "Use the left arm to hold the bottle with white neck and red top from the table",
+    "Lift the bottle the bottle with ridges on bottom headup from the table",
+    "Find the brown bottle with red label on the table and raise it using the left arm.",
+    "Lift the long thin bottle using the left arm and hold upright",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Lift the hand-sized soda bottle from the table without mentioning the arm.",
+    "Grab the bottle with white neck and red top and lift it into a head-up position",
+    "Using the left arm, pick the narrow-necked bottle upright",
+    "Pick the medium dark brown bottle up with the left arm ensuring it stays head-up.",
+    "Lift the narrow-necked bottle off the table and hold it upright.",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Use the left arm to grab and lift the narrow-necked bottle head-up.",
+    "Lift the plastic drink bottle head-up from the table",
+    "Pick up the Coca-Cola bottle from the table carefully.",
+    "Raise the Coca-Cola bottle in a head-up position",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Use the left arm to lift the red-capped bottle head-up",
+    "Pick the Coca-Cola bottle and keep it upright",
+    "Grab the smooth bottle with red lid from the table with the left arm",
+    "Position the bottle with white neck and red top head-up and lift it",
+    "Use the left arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Lift the long thin bottle from the table and secure upright",
+    "Secure the plastic drink bottle upright with the left arm",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Utilize the left arm to lift the red-capped bottle while keeping it head-up.",
+    "Hold the brown bottle with red label upright from the table",
+    "Raise the medium dark brown bottle from the table using the correct arm, the left arm.",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Lift the smooth bottle with red lid from the table upright",
+    "Identify the medium dark brown bottle and grab it with the left arm",
+    "Grab the bottle with ridges on bottom with the left arm in a head-up way",
+    "Grab the medium dark brown bottle and lift it with the left arm",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Lift the bottle the Coca-Cola bottle up from the table",
+    "Use the left arm to pick up the bottle with white neck and red top from the table.",
+    "Hold the red-capped bottle upright after lifting with the left arm",
+    "Use the left arm to pick up the dark drink bottle with logo in the correct orientation",
+    "Pick the plastic drink bottle head-up and hold it steady.",
+    "Lift the narrow-necked bottle upright carefully using the left arm",
+    "Pick up the long thin bottle upright from the table",
+    "Grab the red-capped bottle from the table and hold it head-up.",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Locate the bottle with white neck and red top and lift it upright with the left arm.",
+    "Lift the plastic drink bottle from the table with the left arm",
+    "Grab the red-capped bottle head-up using the left arm from the table.",
+    "Pick the brown bottle with red label head-up using the right arm",
+    "Grab the plastic drink bottle and lift it upright",
+    "Pick up the dark drink bottle with logo from the table using the left arm.",
+    "Use the left arm to hold the Coca-Cola bottle from the table",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Find the red-capped bottle on the table and raise it using the left arm.",
+    "Lift the plastic drink bottle using the left arm and hold upright",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Lift the hand-sized soda bottle from the table without mentioning the arm.",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Using the left arm, pick the hand-sized soda bottle upright",
+    "Pick the plastic drink bottle up with the left arm ensuring it stays head-up.",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Pick the red-capped bottle upright from the table",
+    "Grab the Coca-Cola bottle and lift it upward from the table.",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Use the left arm to grab and lift the narrow-necked bottle head-up.",
+    "Lift the bottle with ridges on bottom head-up from the table",
+    "Pick up the long thin bottle from the table carefully."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode39.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to hold the red-capped bottle from the table",
+    "Grab the smooth bottle with red lid and lift it into a head-up position",
+    "Lift the narrow-necked bottle from the table upright",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Use the right arm to pick the red-capped bottle up and keep it head-up.",
+    "Lift the red-capped bottle ensuring it remains upright.",
+    "Pick up the Coca-Cola bottle upright from the table",
+    "Grab the bottle with ridges on bottom and lift it upright",
+    "Lift the medium dark brown bottle using the right arm and hold upright",
+    "Lift the narrow-necked bottle from the table without mentioning the arm.",
+    "Carefully grab the medium dark brown bottle head-up",
+    "Hold the dark drink bottle with logo head-up after lifting it.",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Pick the narrow-necked bottle up with the right arm ensuring it stays head-up.",
+    "Utilize the right arm to lift the red-capped bottle while keeping it head-up.",
+    "Lift the brown bottle with red label from the table and secure upright",
+    "Lift the Coca-Cola bottle from the table with the right arm",
+    "Pick up the smooth bottle with red lid from the table carefully.",
+    "Take the medium dark brown bottle from the table and keep upright",
+    "Lift the red-capped bottle upright carefully using the right arm",
+    "Find the long thin bottle on the table and raise it using the right arm.",
+    "Use the right arm to lift the Coca-Cola bottle head-up",
+    "Grab the long thin bottle head-up using the right arm from the table.",
+    "Lift the bottle the smooth bottle with red lid up from the table",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Use the right arm to pick up the dark drink bottle with logo in the correct orientation",
+    "Use the right arm to grab and lift the smooth bottle with red lid head-up.",
+    "Locate the smooth bottle with red lid and lift it upright with the right arm.",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Identify the red-capped bottle and grab it with the right arm",
+    "Pick up the bottle with white neck and red top from the table using the right arm.",
+    "Grab the hand-sized soda bottle from the table and hold it head-up.",
+    "Hold the bottle with ridges on bottom upright from the table",
+    "Pick the medium dark brown bottle upright from the table",
+    "Lift the bottle the bottle with white neck and red top headup from the table",
+    "Pick the red-capped bottle head-up and hold it steady.",
+    "Using the right arm, pick the bottle with white neck and red top upright",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Use the right arm to pick up the medium dark brown bottle from the table.",
+    "Lift the long thin bottle head-up from the table",
+    "Position the Coca-Cola bottle head-up and lift it",
+    "Grab the bottle with white neck and red top and lift it with the right arm",
+    "Raise the brown bottle with red label from the table using the correct arm, the right arm.",
+    "Grab the brown bottle with red label with the right arm in a head-up way",
+    "Hold the smooth bottle with red lid upright after lifting with the right arm",
+    "Use the correct arm to pick up the bottle with ridges on bottom.",
+    "Grab the dark drink bottle with logo from the table with the right arm",
+    "Secure the bottle with white neck and red top upright with the right arm",
+    "Raise the long thin bottle in a head-up position",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Use the right arm to hold the smooth bottle with red lid from the table",
+    "Grab the narrow-necked bottle and lift it into a head-up position",
+    "Lift the bottle with ridges on bottom from the table upright",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Use the right arm to pick the brown bottle with red label up and keep it head-up.",
+    "Lift the red-capped bottle ensuring it remains upright.",
+    "Pick up the bottle with ridges on bottom upright from the table",
+    "Grab the red-capped bottle and lift it upright",
+    "Lift the dark drink bottle with logo using the right arm and hold upright",
+    "Lift the plastic drink bottle from the table without mentioning the arm.",
+    "Carefully grab the medium dark brown bottle head-up",
+    "Hold the long thin bottle head-up after lifting it.",
+    "Grab the dark drink bottle with logo and lift it upward from the table.",
+    "Pick the medium dark brown bottle up with the right arm ensuring it stays head-up.",
+    "Utilize the right arm to lift the red-capped bottle while keeping it head-up.",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Lift the brown bottle with red label from the table with the right arm",
+    "Pick up the smooth bottle with red lid from the table carefully.",
+    "Take the medium dark brown bottle from the table and keep upright",
+    "Lift the red-capped bottle upright carefully using the right arm",
+    "Find the plastic drink bottle on the table and raise it using the right arm.",
+    "Use the right arm to lift the dark drink bottle with logo head-up",
+    "Grab the red-capped bottle head-up using the right arm from the table.",
+    "Lift the bottle the medium dark brown bottle up from the table",
+    "Lift the Coca-Cola bottle head-up from the table.",
+    "Use the right arm to pick up the medium dark brown bottle in the correct orientation",
+    "Use the right arm to grab and lift the red-capped bottle head-up.",
+    "Locate the medium dark brown bottle and lift it upright with the right arm.",
+    "Lift the medium dark brown bottle off the table and hold it upright.",
+    "Identify the Coca-Cola bottle and grab it with the right arm",
+    "Pick up the hand-sized soda bottle from the table using the right arm.",
+    "Grab the bottle with ridges on bottom from the table and hold it head-up.",
+    "Hold the hand-sized soda bottle upright from the table",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Lift the bottle the narrow-necked bottle headup from the table",
+    "Pick the long thin bottle head-up and hold it steady.",
+    "Using the right arm, pick the brown bottle with red label upright",
+    "Pick the hand-sized soda bottle and keep it upright",
+    "Use the right arm to pick up the dark drink bottle with logo from the table.",
+    "Lift the smooth bottle with red lid head-up from the table",
+    "Position the long thin bottle head-up and lift it",
+    "Grab the bottle with ridges on bottom and lift it with the right arm",
+    "Raise the long thin bottle from the table using the correct arm, the right arm.",
+    "Grab the dark drink bottle with logo with the right arm in a head-up way",
+    "Hold the hand-sized soda bottle upright after lifting with the right arm",
+    "Use the correct arm to pick up the hand-sized soda bottle.",
+    "Grab the hand-sized soda bottle from the table with the right arm",
+    "Secure the bottle with ridges on bottom upright with the right arm",
+    "Raise the bottle with ridges on bottom in a head-up position",
+    "Pick the plastic drink bottle upright from the table"
+  ],
+  "unseen": [
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick up the dark drink bottle with logo in the correct orientation",
+    "Lift the long thin bottle upright carefully using the right arm",
+    "Raise the dark drink bottle with logo from the table using the correct arm, the right arm.",
+    "Lift the bottle with ridges on bottom head-up from the table.",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Hold the bottle with ridges on bottom upright after lifting with the right arm",
+    "Grab the narrow-necked bottle head-up using the right arm from the table.",
+    "Grab the smooth bottle with red lid from the table with the right arm",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Grab the narrow-necked bottle and lift it upright",
+    "Lift the red-capped bottle ensuring it remains upright.",
+    "Pick up the bottle with white neck and red top from the table carefully.",
+    "Position the bottle with ridges on bottom head-up and lift it",
+    "Use the right arm to grab and lift the Coca-Cola bottle head-up.",
+    "Lift the bottle the smooth bottle with red lid up from the table",
+    "Pick the medium dark brown bottle upright from the table",
+    "Use the right arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Grab the narrow-necked bottle and lift it with the right arm",
+    "Lift the red-capped bottle using the right arm and hold upright",
+    "Lift the narrow-necked bottle from the table with the right arm",
+    "Lift the plastic drink bottle head-up from the table",
+    "Pick the red-capped bottle upright from the table",
+    "Secure the dark drink bottle with logo upright with the right arm",
+    "Grab the medium dark brown bottle and lift it upward from the table.",
+    "Pick up the bottle with ridges on bottom from the table using the right arm.",
+    "Lift the plastic drink bottle from the table without mentioning the arm.",
+    "Pick the hand-sized soda bottle head-up using the right arm",
+    "Raise the dark drink bottle with logo in a head-up position",
+    "Utilize the right arm to lift the smooth bottle with red lid while keeping it head-up.",
+    "Grab the smooth bottle with red lid with the right arm in a head-up way",
+    "Hold the hand-sized soda bottle head-up after lifting it.",
+    "Use the correct arm to pick up the medium dark brown bottle.",
+    "Use the right arm to pick up the smooth bottle with red lid from the table.",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Use the right arm to lift the red-capped bottle head-up",
+    "Using the right arm, pick the bottle with ridges on bottom upright",
+    "Carefully grab the Coca-Cola bottle head-up",
+    "Pick the smooth bottle with red lid and keep it upright",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Identify the brown bottle with red label and grab it with the right arm",
+    "Find the smooth bottle with red lid on the table and raise it using the right arm.",
+    "Hold the red-capped bottle upright from the table",
+    "Locate the narrow-necked bottle and lift it upright with the right arm.",
+    "Lift the bottle the narrow-necked bottle headup from the table",
+    "Grab the brown bottle with red label and lift it into a head-up position",
+    "Use the right arm to hold the narrow-necked bottle from the table",
+    "Pick the medium dark brown bottle head-up and hold it steady.",
+    "Pick the plastic drink bottle up with the right arm ensuring it stays head-up.",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Grab the medium dark brown bottle from the table and hold it head-up.",
+    "Use the right arm to pick up the bottle with white neck and red top in the correct orientation",
+    "Lift the dark drink bottle with logo upright carefully using the right arm",
+    "Raise the narrow-necked bottle from the table using the correct arm, the right arm.",
+    "Lift the Coca-Cola bottle head-up from the table.",
+    "Lift the Coca-Cola bottle from the table upright",
+    "Hold the narrow-necked bottle upright after lifting with the right arm",
+    "Grab the bottle with white neck and red top head-up using the right arm from the table.",
+    "Grab the medium dark brown bottle from the table with the right arm",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Grab the long thin bottle and lift it upright",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Pick up the smooth bottle with red lid from the table carefully.",
+    "Position the bottle with ridges on bottom head-up and lift it",
+    "Use the right arm to grab and lift the Coca-Cola bottle head-up.",
+    "Lift the bottle the bottle with white neck and red top up from the table",
+    "Pick the long thin bottle upright from the table",
+    "Use the right arm to pick the plastic drink bottle up and keep it head-up.",
+    "Grab the bottle with white neck and red top and lift it with the right arm",
+    "Lift the smooth bottle with red lid using the right arm and hold upright",
+    "Lift the bottle with white neck and red top from the table with the right arm",
+    "Lift the hand-sized soda bottle head-up from the table",
+    "Pick the brown bottle with red label upright from the table",
+    "Secure the narrow-necked bottle upright with the right arm",
+    "Grab the bottle with ridges on bottom and lift it upward from the table.",
+    "Pick up the smooth bottle with red lid from the table using the right arm.",
+    "Lift the smooth bottle with red lid from the table without mentioning the arm.",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Raise the smooth bottle with red lid in a head-up position",
+    "Utilize the right arm to lift the Coca-Cola bottle while keeping it head-up.",
+    "Grab the dark drink bottle with logo with the right arm in a head-up way",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Use the correct arm to pick up the dark drink bottle with logo.",
+    "Use the right arm to pick up the red-capped bottle from the table.",
+    "Lift the plastic drink bottle off the table and hold it upright.",
+    "Use the right arm to lift the brown bottle with red label head-up",
+    "Using the right arm, pick the plastic drink bottle upright",
+    "Carefully grab the long thin bottle head-up",
+    "Pick the red-capped bottle and keep it upright",
+    "Take the red-capped bottle from the table and keep upright",
+    "Identify the dark drink bottle with logo and grab it with the right arm",
+    "Find the Coca-Cola bottle on the table and raise it using the right arm.",
+    "Hold the plastic drink bottle upright from the table",
+    "Locate the dark drink bottle with logo and lift it upright with the right arm.",
+    "Lift the bottle the smooth bottle with red lid headup from the table",
+    "Grab the Coca-Cola bottle and lift it into a head-up position",
+    "Use the right arm to hold the bottle with ridges on bottom from the table",
+    "Pick the bottle with ridges on bottom head-up and hold it steady.",
+    "Pick the long thin bottle up with the right arm ensuring it stays head-up.",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Grab the narrow-necked bottle from the table and hold it head-up."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle upright",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle upright",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle upright",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up."
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode40.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the Coca-Cola bottle upright after lifting with the right arm",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Use the correct arm to pick up the hand-sized soda bottle.",
+    "Lift the plastic drink bottle from the table and secure upright",
+    "Lift the red-capped bottle head-up from the table.",
+    "Lift the medium dark brown bottle from the table upright",
+    "Pick up the narrow-necked bottle from the table carefully.",
+    "Grab the brown bottle with red label and lift it with the right arm",
+    "Utilize the right arm to lift the plastic drink bottle while keeping it head-up.",
+    "Pick the narrow-necked bottle upright from the table",
+    "Grab the hand-sized soda bottle and lift it upward from the table.",
+    "Lift the bottle with white neck and red top from the table without mentioning the arm.",
+    "Carefully grab the Coca-Cola bottle head-up",
+    "Grab the long thin bottle from the table and hold it head-up.",
+    "Pick the bottle with white neck and red top and keep it upright",
+    "Raise the long thin bottle from the table using the correct arm, the right arm.",
+    "Lift the red-capped bottle ensuring it remains upright.",
+    "Identify the dark drink bottle with logo and grab it with the right arm",
+    "Pick the bottle with ridges on bottom head-up and hold it steady.",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Lift the plastic drink bottle head-up from the table",
+    "Position the brown bottle with red label head-up and lift it",
+    "Lift the medium dark brown bottle upright carefully using the right arm",
+    "Pick the medium dark brown bottle up with the right arm ensuring it stays head-up.",
+    "Grab the smooth bottle with red lid from the table with the right arm",
+    "Use the right arm to pick up the bottle with ridges on bottom in the correct orientation",
+    "Locate the bottle with white neck and red top and lift it upright with the right arm.",
+    "Using the right arm, pick the smooth bottle with red lid upright",
+    "Grab the medium dark brown bottle with the right arm in a head-up way",
+    "Pick the bottle with ridges on bottom head-up using the right arm",
+    "Raise the long thin bottle in a head-up position",
+    "Lift the bottle the red-capped bottle headup from the table",
+    "Pick the plastic drink bottle upright from the table",
+    "Hold the dark drink bottle with logo upright from the table",
+    "Use the right arm to grab and lift the narrow-necked bottle head-up.",
+    "Lift the bottle the plastic drink bottle up from the table",
+    "Lift the long thin bottle using the right arm and hold upright",
+    "Find the long thin bottle on the table and raise it using the right arm.",
+    "Lift the narrow-necked bottle from the table with the right arm",
+    "Use the right arm to lift the smooth bottle with red lid head-up",
+    "Secure the smooth bottle with red lid upright with the right arm",
+    "Use the right arm to pick up the bottle with ridges on bottom from the table.",
+    "Pick up the dark drink bottle with logo from the table using the right arm.",
+    "Use the right arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Lift the plastic drink bottle off the table and hold it upright.",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Use the right arm to hold the medium dark brown bottle from the table",
+    "Grab the smooth bottle with red lid head-up using the right arm from the table.",
+    "Hold the Coca-Cola bottle upright after lifting with the right arm",
+    "Take the plastic drink bottle from the table and keep upright",
+    "Hold the dark drink bottle with logo head-up after lifting it.",
+    "Use the correct arm to pick up the plastic drink bottle.",
+    "Lift the smooth bottle with red lid from the table and secure upright",
+    "Lift the dark drink bottle with logo head-up from the table.",
+    "Lift the brown bottle with red label from the table upright",
+    "Pick up the red-capped bottle from the table carefully.",
+    "Grab the Coca-Cola bottle and lift it with the right arm",
+    "Utilize the right arm to lift the narrow-necked bottle while keeping it head-up.",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Grab the plastic drink bottle and lift it upward from the table.",
+    "Lift the bottle with white neck and red top from the table without mentioning the arm.",
+    "Carefully grab the medium dark brown bottle head-up",
+    "Grab the dark drink bottle with logo from the table and hold it head-up.",
+    "Pick the Coca-Cola bottle and keep it upright",
+    "Raise the long thin bottle from the table using the correct arm, the right arm.",
+    "Lift the red-capped bottle ensuring it remains upright.",
+    "Identify the hand-sized soda bottle and grab it with the right arm",
+    "Pick the medium dark brown bottle head-up and hold it steady.",
+    "Grab the bottle with white neck and red top and lift it upright",
+    "Pick up the bottle with ridges on bottom upright from the table",
+    "Lift the medium dark brown bottle head-up from the table",
+    "Position the brown bottle with red label head-up and lift it",
+    "Lift the bottle with white neck and red top upright carefully using the right arm",
+    "Pick the dark drink bottle with logo up with the right arm ensuring it stays head-up.",
+    "Grab the plastic drink bottle from the table with the right arm",
+    "Use the right arm to pick up the brown bottle with red label in the correct orientation",
+    "Locate the bottle with white neck and red top and lift it upright with the right arm.",
+    "Using the right arm, pick the medium dark brown bottle upright",
+    "Grab the red-capped bottle with the right arm in a head-up way",
+    "Pick the hand-sized soda bottle head-up using the right arm",
+    "Raise the bottle with white neck and red top in a head-up position",
+    "Lift the bottle the long thin bottle headup from the table",
+    "Pick the narrow-necked bottle upright from the table",
+    "Hold the narrow-necked bottle upright from the table",
+    "Use the right arm to grab and lift the brown bottle with red label head-up.",
+    "Lift the bottle the long thin bottle up from the table",
+    "Lift the hand-sized soda bottle using the right arm and hold upright",
+    "Find the medium dark brown bottle on the table and raise it using the right arm.",
+    "Lift the medium dark brown bottle from the table with the right arm",
+    "Use the right arm to lift the smooth bottle with red lid head-up",
+    "Secure the red-capped bottle upright with the right arm",
+    "Use the right arm to pick up the dark drink bottle with logo from the table.",
+    "Pick up the narrow-necked bottle from the table using the right arm.",
+    "Use the right arm to pick the bottle with white neck and red top up and keep it head-up.",
+    "Lift the brown bottle with red label off the table and hold it upright.",
+    "Grab the red-capped bottle and lift it into a head-up position",
+    "Use the right arm to hold the narrow-necked bottle from the table",
+    "Grab the brown bottle with red label head-up using the right arm from the table."
+  ],
+  "unseen": [
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle upright"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode43.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hand-sized soda bottle with the left arm in a head-up way",
+    "Grab the narrow-necked bottle and lift it upright",
+    "Lift the narrow-necked bottle head-up from the table",
+    "Lift the dark drink bottle with logo head-up from the table.",
+    "Use the left arm to pick up the Coca-Cola bottle from the table.",
+    "Lift the medium dark brown bottle ensuring it remains upright.",
+    "Grab the red-capped bottle head-up using the left arm from the table.",
+    "Lift the long thin bottle from the table upright",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Hold the long thin bottle upright from the table",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Take the bottle with ridges on bottom from the table and keep upright",
+    "Using the left arm, pick the medium dark brown bottle upright",
+    "Hold the bottle with white neck and red top head-up after lifting it.",
+    "Locate the long thin bottle and lift it upright with the left arm.",
+    "Hold the long thin bottle upright after lifting with the left arm",
+    "Pick the medium dark brown bottle and keep it upright",
+    "Raise the bottle with white neck and red top in a head-up position",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Lift the brown bottle with red label from the table with the left arm",
+    "Grab the bottle with white neck and red top and lift it with the left arm",
+    "Use the left arm to pick the dark drink bottle with logo up and keep it head-up.",
+    "Use the left arm to pick up the narrow-necked bottle in the correct orientation",
+    "Pick the brown bottle with red label head-up and hold it steady.",
+    "Grab the narrow-necked bottle from the table with the left arm",
+    "Grab the Coca-Cola bottle and lift it upward from the table.",
+    "Find the Coca-Cola bottle on the table and raise it using the left arm.",
+    "Pick the brown bottle with red label upright from the table",
+    "Lift the bottle the long thin bottle up from the table",
+    "Position the bottle with ridges on bottom head-up and lift it",
+    "Use the left arm to lift the narrow-necked bottle head-up",
+    "Grab the smooth bottle with red lid from the table and hold it head-up.",
+    "Lift the long thin bottle from the table without mentioning the arm.",
+    "Pick up the hand-sized soda bottle from the table carefully.",
+    "Utilize the left arm to lift the medium dark brown bottle while keeping it head-up.",
+    "Use the left arm to grab and lift the bottle with ridges on bottom head-up.",
+    "Raise the bottle with ridges on bottom from the table using the correct arm, the left arm.",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Use the left arm to hold the hand-sized soda bottle from the table",
+    "Secure the medium dark brown bottle upright with the left arm",
+    "Lift the hand-sized soda bottle using the left arm and hold upright",
+    "Pick the medium dark brown bottle head-up using the right arm",
+    "Pick up the bottle with ridges on bottom upright from the table",
+    "Pick the dark drink bottle with logo up with the left arm ensuring it stays head-up.",
+    "Carefully grab the smooth bottle with red lid head-up",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Lift the brown bottle with red label upright carefully using the left arm",
+    "Identify the bottle with white neck and red top and grab it with the left arm",
+    "Grab the dark drink bottle with logo and lift it into a head-up position",
+    "Pick up the long thin bottle from the table using the left arm.",
+    "Grab the red-capped bottle with the left arm in a head-up way",
+    "Grab the hand-sized soda bottle and lift it upright",
+    "Lift the plastic drink bottle head-up from the table",
+    "Lift the bottle with white neck and red top head-up from the table.",
+    "Use the left arm to pick up the Coca-Cola bottle from the table.",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Grab the red-capped bottle head-up using the left arm from the table.",
+    "Lift the narrow-necked bottle from the table upright",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Hold the Coca-Cola bottle upright from the table",
+    "Lift the bottle the long thin bottle headup from the table",
+    "Take the plastic drink bottle from the table and keep upright",
+    "Using the left arm, pick the medium dark brown bottle upright",
+    "Hold the bottle with white neck and red top head-up after lifting it.",
+    "Locate the long thin bottle and lift it upright with the left arm.",
+    "Hold the brown bottle with red label upright after lifting with the left arm",
+    "Pick the bottle with white neck and red top and keep it upright",
+    "Raise the long thin bottle in a head-up position",
+    "Pick the medium dark brown bottle upright from the table",
+    "Lift the smooth bottle with red lid from the table with the left arm",
+    "Grab the brown bottle with red label and lift it with the left arm",
+    "Use the left arm to pick the medium dark brown bottle up and keep it head-up.",
+    "Use the left arm to pick up the bottle with ridges on bottom in the correct orientation",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Grab the Coca-Cola bottle from the table with the left arm",
+    "Grab the brown bottle with red label and lift it upward from the table.",
+    "Find the medium dark brown bottle on the table and raise it using the left arm.",
+    "Pick the brown bottle with red label upright from the table",
+    "Lift the bottle the Coca-Cola bottle up from the table",
+    "Position the bottle with white neck and red top head-up and lift it",
+    "Use the left arm to lift the smooth bottle with red lid head-up",
+    "Grab the long thin bottle from the table and hold it head-up.",
+    "Lift the bottle with white neck and red top from the table without mentioning the arm.",
+    "Pick up the long thin bottle from the table carefully.",
+    "Utilize the left arm to lift the hand-sized soda bottle while keeping it head-up.",
+    "Use the left arm to grab and lift the medium dark brown bottle head-up.",
+    "Raise the brown bottle with red label from the table using the correct arm, the left arm.",
+    "Lift the bottle with ridges on bottom off the table and hold it upright.",
+    "Use the left arm to hold the Coca-Cola bottle from the table",
+    "Secure the hand-sized soda bottle upright with the left arm",
+    "Lift the bottle with ridges on bottom using the left arm and hold upright",
+    "Pick the red-capped bottle head-up using the right arm",
+    "Pick up the bottle with white neck and red top upright from the table",
+    "Pick the dark drink bottle with logo up with the left arm ensuring it stays head-up.",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Use the correct arm to pick up the dark drink bottle with logo.",
+    "Lift the brown bottle with red label upright carefully using the left arm",
+    "Identify the dark drink bottle with logo and grab it with the left arm",
+    "Grab the red-capped bottle and lift it into a head-up position",
+    "Pick up the red-capped bottle from the table using the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode46.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium dark brown bottle with the left arm in a head-up way",
+    "Lift the dark drink bottle with logo head-up from the table",
+    "Lift the bottle the red-capped bottle up from the table",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Hold the dark drink bottle with logo upright from the table",
+    "Grab the red-capped bottle and lift it upright",
+    "Utilize the left arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Lift the long thin bottle using the left arm and hold upright",
+    "Identify the long thin bottle and grab it with the left arm",
+    "Use the left arm to pick up the bottle with white neck and red top from the table.",
+    "Lift the red-capped bottle from the table and secure upright",
+    "Using the left arm, pick the plastic drink bottle upright",
+    "Pick up the plastic drink bottle from the table using the left arm.",
+    "Raise the Coca-Cola bottle from the table using the correct arm, the left arm.",
+    "Use the correct arm to pick up the hand-sized soda bottle.",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Use the left arm to hold the brown bottle with red label from the table",
+    "Pick the plastic drink bottle upright from the table",
+    "Carefully grab the medium dark brown bottle head-up",
+    "Lift the brown bottle with red label off the table and hold it upright.",
+    "Raise the hand-sized soda bottle in a head-up position",
+    "Locate the dark drink bottle with logo and lift it upright with the left arm.",
+    "Position the smooth bottle with red lid head-up and lift it",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Lift the long thin bottle from the table with the left arm",
+    "Pick up the brown bottle with red label upright from the table",
+    "Grab the bottle with white neck and red top and lift it with the left arm",
+    "Pick the red-capped bottle upright from the table",
+    "Hold the red-capped bottle upright after lifting with the left arm",
+    "Lift the hand-sized soda bottle from the table without mentioning the arm.",
+    "Lift the long thin bottle head-up from the table.",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Grab the bottle with white neck and red top and lift it upward from the table.",
+    "Use the left arm to pick the brown bottle with red label up and keep it head-up.",
+    "Find the smooth bottle with red lid on the table and raise it using the left arm.",
+    "Pick up the medium dark brown bottle from the table carefully.",
+    "Lift the bottle the Coca-Cola bottle headup from the table",
+    "Use the left arm to lift the Coca-Cola bottle head-up",
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Use the left arm to grab and lift the narrow-necked bottle head-up.",
+    "Secure the bottle with ridges on bottom upright with the left arm",
+    "Pick the red-capped bottle and keep it upright",
+    "Lift the narrow-necked bottle from the table upright",
+    "Use the left arm to pick up the bottle with ridges on bottom in the correct orientation",
+    "Lift the red-capped bottle ensuring it remains upright.",
+    "Pick the bottle with white neck and red top head-up and hold it steady.",
+    "Lift the dark drink bottle with logo upright carefully using the left arm",
+    "Pick the red-capped bottle up with the left arm ensuring it stays head-up.",
+    "Grab the narrow-necked bottle head-up using the left arm from the table.",
+    "Grab the smooth bottle with red lid with the left arm in a head-up way",
+    "Lift the narrow-necked bottle head-up from the table",
+    "Lift the bottle the Coca-Cola bottle up from the table",
+    "Take the plastic drink bottle from the table and keep upright",
+    "Hold the red-capped bottle upright from the table",
+    "Grab the bottle with white neck and red top and lift it upright",
+    "Utilize the left arm to lift the hand-sized soda bottle while keeping it head-up.",
+    "Lift the bottle with ridges on bottom using the left arm and hold upright",
+    "Identify the medium dark brown bottle and grab it with the left arm",
+    "Use the left arm to pick up the smooth bottle with red lid from the table.",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Using the left arm, pick the plastic drink bottle upright",
+    "Pick up the narrow-necked bottle from the table using the left arm.",
+    "Raise the brown bottle with red label from the table using the correct arm, the left arm.",
+    "Use the correct arm to pick up the bottle with ridges on bottom.",
+    "Pick the red-capped bottle head-up using the right arm",
+    "Use the left arm to hold the Coca-Cola bottle from the table",
+    "Pick the brown bottle with red label upright from the table",
+    "Carefully grab the Coca-Cola bottle head-up",
+    "Lift the plastic drink bottle off the table and hold it upright.",
+    "Raise the Coca-Cola bottle in a head-up position",
+    "Locate the medium dark brown bottle and lift it upright with the left arm.",
+    "Position the smooth bottle with red lid head-up and lift it",
+    "Grab the smooth bottle with red lid and lift it into a head-up position",
+    "Lift the dark drink bottle with logo from the table with the left arm",
+    "Pick up the bottle with white neck and red top upright from the table",
+    "Grab the brown bottle with red label and lift it with the left arm",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Hold the medium dark brown bottle upright after lifting with the left arm",
+    "Lift the smooth bottle with red lid from the table without mentioning the arm.",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Grab the medium dark brown bottle from the table with the left arm",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Grab the red-capped bottle and lift it upward from the table.",
+    "Use the left arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Find the bottle with ridges on bottom on the table and raise it using the left arm.",
+    "Pick up the plastic drink bottle from the table carefully.",
+    "Lift the bottle the red-capped bottle headup from the table",
+    "Use the left arm to lift the hand-sized soda bottle head-up",
+    "Grab the plastic drink bottle from the table and hold it head-up.",
+    "Use the left arm to grab and lift the medium dark brown bottle head-up.",
+    "Secure the narrow-necked bottle upright with the left arm",
+    "Pick the bottle with ridges on bottom and keep it upright",
+    "Lift the narrow-necked bottle from the table upright",
+    "Use the left arm to pick up the plastic drink bottle in the correct orientation",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Pick the bottle with ridges on bottom head-up and hold it steady.",
+    "Lift the medium dark brown bottle upright carefully using the left arm",
+    "Pick the hand-sized soda bottle up with the left arm ensuring it stays head-up.",
+    "Grab the medium dark brown bottle head-up using the left arm from the table."
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode47.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium green bottle upright carefully using the left arm",
+    "Use the left arm to pick up the smooth green plastic bottle in the correct orientation",
+    "Hold the medium green bottle with capped neck upright after lifting with the left arm",
+    "Position the medium green bottle with capped neck head-up and lift it",
+    "Pick the bottle with narrow top upright from the table",
+    "Take the medium green bottle with capped neck from the table and keep upright",
+    "Lift the smooth green bottle using the left arm and hold upright",
+    "Grab the medium green bottle with capped neck and lift it upright",
+    "Pick the medium-sized green bottle and keep it upright",
+    "Use the left arm to pick the green bottle with indented base up and keep it head-up.",
+    "Secure the green bottle with indented base upright with the left arm",
+    "Grab the plastic bottle from the table and hold it head-up.",
+    "Grab the medium green bottle with the left arm in a head-up way",
+    "Lift the medium green bottle with capped neck from the table with the left arm",
+    "Hold the bottle with ridges near base head-up after lifting it.",
+    "Pick the medium green bottle upright from the table",
+    "Use the left arm to hold the bottle with white printed label from the table",
+    "Lift the bottle the smooth green plastic bottle up from the table",
+    "Utilize the left arm to lift the bottle with white printed label while keeping it head-up.",
+    "Pick the bottle with white printed label up with the left arm ensuring it stays head-up.",
+    "Using the left arm, pick the green bottle with indented base upright",
+    "Use the left arm to grab and lift the bottle with ridges near base head-up.",
+    "Lift the handheld green bottle from the table and secure upright",
+    "Lift the green bottle with indented base head-up from the table",
+    "Pick the bottle with white printed label head-up using the right arm",
+    "Lift the bottle with rounded neck off the table and hold it upright.",
+    "Use the left arm to lift the green bottle with indented base head-up",
+    "Pick the smooth green plastic bottle head-up and hold it steady.",
+    "Pick up the medium green bottle upright from the table",
+    "Find the smooth green plastic bottle on the table and raise it using the left arm.",
+    "Use the correct arm to pick up the smooth green bottle.",
+    "Pick up the medium green bottle with capped neck from the table carefully.",
+    "Carefully grab the bottle with rounded neck head-up",
+    "Lift the bottle the bottle with white printed label headup from the table",
+    "Locate the plastic bottle and lift it upright with the left arm.",
+    "Raise the smooth green plastic bottle in a head-up position",
+    "Grab the smooth green bottle head-up using the left arm from the table.",
+    "Use the left arm to pick up the medium-sized green bottle from the table.",
+    "Pick up the handheld green bottle from the table using the left arm.",
+    "Lift the bottle with rounded neck head-up from the table.",
+    "Raise the bottle with ridges near base from the table using the correct arm, the left arm.",
+    "Hold the bottle with narrow top upright from the table",
+    "Identify the bottle with rounded neck and grab it with the left arm",
+    "Lift the bottle with narrow top from the table without mentioning the arm.",
+    "Grab the bottle with narrow top from the table with the left arm",
+    "Grab the bottle with white printed label and lift it upward from the table.",
+    "Grab the medium-sized green bottle and lift it with the left arm",
+    "Grab the handheld green bottle and lift it into a head-up position",
+    "Lift the green bottle with indented base from the table upright",
+    "Lift the medium-sized green bottle ensuring it remains upright.",
+    "Lift the bottle with white printed label upright carefully using the left arm",
+    "Use the left arm to pick up the plastic bottle in the correct orientation",
+    "Hold the smooth green bottle upright after lifting with the left arm",
+    "Position the medium-sized green bottle head-up and lift it",
+    "Pick the medium green bottle with capped neck upright from the table",
+    "Take the medium green bottle from the table and keep upright",
+    "Lift the medium green bottle using the left arm and hold upright",
+    "Grab the green bottle with indented base and lift it upright",
+    "Pick the medium green bottle with capped neck and keep it upright",
+    "Use the left arm to pick the bottle with ridges near base up and keep it head-up.",
+    "Secure the handheld green bottle upright with the left arm",
+    "Grab the bottle with narrow top from the table and hold it head-up.",
+    "Grab the bottle with narrow top with the left arm in a head-up way",
+    "Lift the medium green bottle with capped neck from the table with the left arm",
+    "Hold the green bottle with indented base head-up after lifting it.",
+    "Pick the medium-sized green bottle upright from the table",
+    "Use the left arm to hold the handheld green bottle from the table",
+    "Lift the bottle the handheld green bottle up from the table",
+    "Utilize the left arm to lift the bottle with rounded neck while keeping it head-up.",
+    "Pick the plastic bottle up with the left arm ensuring it stays head-up.",
+    "Using the left arm, pick the handheld green bottle upright",
+    "Use the left arm to grab and lift the bottle with rounded neck head-up.",
+    "Lift the medium green bottle from the table and secure upright",
+    "Lift the bottle with narrow top head-up from the table",
+    "Pick the bottle with narrow top head-up using the right arm",
+    "Lift the smooth green bottle off the table and hold it upright.",
+    "Use the left arm to lift the plastic bottle head-up",
+    "Pick the bottle with narrow top head-up and hold it steady.",
+    "Pick up the plastic bottle upright from the table",
+    "Find the bottle with ridges near base on the table and raise it using the left arm.",
+    "Use the correct arm to pick up the medium-sized green bottle.",
+    "Pick up the plastic bottle from the table carefully.",
+    "Carefully grab the green bottle with indented base head-up",
+    "Lift the bottle the plastic bottle headup from the table",
+    "Locate the bottle with ridges near base and lift it upright with the left arm.",
+    "Raise the smooth green plastic bottle in a head-up position",
+    "Grab the bottle with narrow top head-up using the left arm from the table.",
+    "Use the left arm to pick up the smooth green bottle from the table.",
+    "Pick up the smooth green bottle from the table using the left arm.",
+    "Lift the medium green bottle with capped neck head-up from the table.",
+    "Raise the handheld green bottle from the table using the correct arm, the left arm.",
+    "Hold the plastic bottle upright from the table",
+    "Identify the plastic bottle and grab it with the left arm",
+    "Lift the handheld green bottle from the table without mentioning the arm.",
+    "Grab the green bottle with indented base from the table with the left arm",
+    "Grab the smooth green bottle and lift it upward from the table.",
+    "Grab the bottle with ridges near base and lift it with the left arm",
+    "Grab the smooth green plastic bottle and lift it into a head-up position",
+    "Lift the smooth green bottle from the table upright",
+    "Lift the smooth green bottle ensuring it remains upright."
+  ],
+  "unseen": [
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle carefully using the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the green bottle upright",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the green bottle upright",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle carefully using the left arm",
+    "Use the left arm to grab the green bottle with white label upright"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode48.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Find the hand-sized soda bottle on the table and raise it using the right arm.",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Grab the dark drink bottle with logo and lift it into a head-up position",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Take the medium dark brown bottle from the table and keep upright",
+    "Use the correct arm to pick up the plastic drink bottle.",
+    "Pick up the hand-sized soda bottle upright from the table",
+    "Secure the Coca-Cola bottle upright with the right arm",
+    "Lift the bottle the red-capped bottle headup from the table",
+    "Using the right arm, pick the bottle with ridges on bottom upright",
+    "Pick the medium dark brown bottle upright from the table",
+    "Pick up the bottle with white neck and red top from the table using the right arm.",
+    "Raise the dark drink bottle with logo in a head-up position",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Pick the long thin bottle and keep it upright",
+    "Use the right arm to pick the medium dark brown bottle up and keep it head-up.",
+    "Grab the plastic drink bottle from the table with the right arm",
+    "Use the right arm to lift the bottle with ridges on bottom head-up",
+    "Pick the brown bottle with red label head-up and hold it steady.",
+    "Pick the bottle with ridges on bottom head-up using the right arm",
+    "Pick the hand-sized soda bottle up with the right arm ensuring it stays head-up.",
+    "Use the right arm to pick up the plastic drink bottle from the table.",
+    "Lift the smooth bottle with red lid from the table and secure upright",
+    "Lift the smooth bottle with red lid from the table without mentioning the arm.",
+    "Lift the medium dark brown bottle head-up from the table",
+    "Hold the smooth bottle with red lid upright from the table",
+    "Utilize the right arm to lift the bottle with white neck and red top while keeping it head-up.",
+    "Use the right arm to grab and lift the narrow-necked bottle head-up.",
+    "Lift the bottle the brown bottle with red label up from the table",
+    "Use the right arm to hold the bottle with white neck and red top from the table",
+    "Grab the medium dark brown bottle with the right arm in a head-up way",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Position the bottle with ridges on bottom head-up and lift it",
+    "Grab the plastic drink bottle and lift it upright",
+    "Grab the long thin bottle and lift it with the right arm",
+    "Grab the red-capped bottle head-up using the right arm from the table.",
+    "Raise the bottle with white neck and red top from the table using the correct arm, the right arm.",
+    "Pick the red-capped bottle upright from the table",
+    "Identify the dark drink bottle with logo and grab it with the right arm",
+    "Hold the medium dark brown bottle upright after lifting with the right arm",
+    "Carefully grab the brown bottle with red label head-up",
+    "Lift the narrow-necked bottle ensuring it remains upright.",
+    "Use the right arm to pick up the Coca-Cola bottle in the correct orientation",
+    "Grab the dark drink bottle with logo from the table and hold it head-up.",
+    "Grab the bottle with white neck and red top and lift it upward from the table.",
+    "Lift the Coca-Cola bottle using the right arm and hold upright",
+    "Pick up the Coca-Cola bottle from the table carefully.",
+    "Lift the red-capped bottle from the table with the right arm",
+    "Lift the red-capped bottle upright carefully using the right arm",
+    "Locate the bottle with white neck and red top and lift it upright with the right arm.",
+    "Find the brown bottle with red label on the table and raise it using the right arm.",
+    "Lift the plastic drink bottle head-up from the table.",
+    "Grab the Coca-Cola bottle and lift it into a head-up position",
+    "Hold the Coca-Cola bottle head-up after lifting it.",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Use the correct arm to pick up the red-capped bottle.",
+    "Pick up the Coca-Cola bottle upright from the table",
+    "Secure the hand-sized soda bottle upright with the right arm",
+    "Lift the bottle the bottle with ridges on bottom headup from the table",
+    "Using the right arm, pick the bottle with ridges on bottom upright",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Pick up the long thin bottle from the table using the right arm.",
+    "Raise the red-capped bottle in a head-up position",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Pick the bottle with ridges on bottom and keep it upright",
+    "Use the right arm to pick the plastic drink bottle up and keep it head-up.",
+    "Grab the smooth bottle with red lid from the table with the right arm",
+    "Use the right arm to lift the dark drink bottle with logo head-up",
+    "Pick the medium dark brown bottle head-up and hold it steady.",
+    "Pick the brown bottle with red label head-up using the right arm",
+    "Pick the plastic drink bottle up with the right arm ensuring it stays head-up.",
+    "Use the right arm to pick up the brown bottle with red label from the table.",
+    "Lift the plastic drink bottle from the table and secure upright",
+    "Lift the bottle with white neck and red top from the table without mentioning the arm.",
+    "Lift the long thin bottle head-up from the table",
+    "Hold the narrow-necked bottle upright from the table",
+    "Utilize the right arm to lift the hand-sized soda bottle while keeping it head-up.",
+    "Use the right arm to grab and lift the plastic drink bottle head-up.",
+    "Lift the bottle the bottle with white neck and red top up from the table",
+    "Use the right arm to hold the Coca-Cola bottle from the table",
+    "Grab the bottle with white neck and red top with the right arm in a head-up way",
+    "Lift the medium dark brown bottle off the table and hold it upright.",
+    "Position the hand-sized soda bottle head-up and lift it",
+    "Grab the bottle with ridges on bottom and lift it upright",
+    "Grab the red-capped bottle and lift it with the right arm",
+    "Grab the dark drink bottle with logo head-up using the right arm from the table.",
+    "Raise the brown bottle with red label from the table using the correct arm, the right arm.",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Identify the narrow-necked bottle and grab it with the right arm",
+    "Hold the smooth bottle with red lid upright after lifting with the right arm",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Lift the plastic drink bottle ensuring it remains upright.",
+    "Use the right arm to pick up the brown bottle with red label in the correct orientation",
+    "Grab the bottle with white neck and red top from the table and hold it head-up.",
+    "Grab the plastic drink bottle and lift it upward from the table.",
+    "Lift the red-capped bottle using the right arm and hold upright",
+    "Pick up the Coca-Cola bottle from the table carefully.",
+    "Lift the narrow-necked bottle from the table with the right arm",
+    "Lift the medium dark brown bottle upright carefully using the right arm",
+    "Locate the medium dark brown bottle and lift it upright with the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode49.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the medium dark brown bottle and keep it upright",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Secure the Coca-Cola bottle upright with the right arm",
+    "Identify the brown bottle with red label and grab it with the right arm",
+    "Use the right arm to pick up the medium dark brown bottle in the correct orientation",
+    "Use the correct arm to pick up the Coca-Cola bottle.",
+    "Pick up the bottle with white neck and red top from the table carefully.",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Pick up the medium dark brown bottle from the table using the right arm.",
+    "Use the right arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Grab the Coca-Cola bottle from the table with the right arm",
+    "Lift the dark drink bottle with logo off the table and hold it upright.",
+    "Pick up the medium dark brown bottle upright from the table",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Hold the long thin bottle upright after lifting with the right arm",
+    "Take the bottle with ridges on bottom from the table and keep upright",
+    "Lift the bottle with ridges on bottom head-up from the table",
+    "Grab the hand-sized soda bottle and lift it upward from the table.",
+    "Find the medium dark brown bottle on the table and raise it using the right arm.",
+    "Lift the narrow-necked bottle from the table upright",
+    "Hold the brown bottle with red label upright from the table",
+    "Pick the brown bottle with red label up with the right arm ensuring it stays head-up.",
+    "Grab the narrow-necked bottle and lift it into a head-up position",
+    "Lift the long thin bottle from the table without mentioning the arm.",
+    "Lift the bottle the plastic drink bottle up from the table",
+    "Pick the bottle with ridges on bottom head-up and hold it steady.",
+    "Hold the bottle with white neck and red top head-up after lifting it.",
+    "Lift the medium dark brown bottle using the right arm and hold upright",
+    "Use the right arm to hold the brown bottle with red label from the table",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Raise the plastic drink bottle in a head-up position",
+    "Utilize the right arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Use the right arm to grab and lift the bottle with ridges on bottom head-up.",
+    "Use the right arm to pick up the brown bottle with red label from the table.",
+    "Lift the hand-sized soda bottle upright carefully using the right arm",
+    "Lift the smooth bottle with red lid from the table with the right arm",
+    "Lift the long thin bottle from the table and secure upright",
+    "Raise the plastic drink bottle from the table using the correct arm, the right arm.",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Grab the bottle with white neck and red top from the table and hold it head-up.",
+    "Use the right arm to lift the brown bottle with red label head-up",
+    "Grab the bottle with white neck and red top head-up using the right arm from the table.",
+    "Lift the bottle the bottle with ridges on bottom headup from the table",
+    "Using the right arm, pick the narrow-necked bottle upright",
+    "Grab the plastic drink bottle and lift it with the right arm",
+    "Grab the brown bottle with red label with the right arm in a head-up way",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Locate the Coca-Cola bottle and lift it upright with the right arm.",
+    "Pick the smooth bottle with red lid head-up using the right arm",
+    "Position the narrow-necked bottle head-up and lift it",
+    "Pick the long thin bottle and keep it upright",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Secure the long thin bottle upright with the right arm",
+    "Identify the Coca-Cola bottle and grab it with the right arm",
+    "Use the right arm to pick up the Coca-Cola bottle in the correct orientation",
+    "Use the correct arm to pick up the dark drink bottle with logo.",
+    "Pick up the bottle with ridges on bottom from the table carefully.",
+    "Carefully grab the dark drink bottle with logo head-up",
+    "Pick up the red-capped bottle from the table using the right arm.",
+    "Use the right arm to pick the bottle with ridges on bottom up and keep it head-up.",
+    "Grab the smooth bottle with red lid from the table with the right arm",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Pick up the brown bottle with red label upright from the table",
+    "Grab the bottle with white neck and red top and lift it upright",
+    "Hold the narrow-necked bottle upright after lifting with the right arm",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Lift the red-capped bottle head-up from the table",
+    "Grab the dark drink bottle with logo and lift it upward from the table.",
+    "Find the bottle with ridges on bottom on the table and raise it using the right arm.",
+    "Lift the red-capped bottle from the table upright",
+    "Hold the bottle with ridges on bottom upright from the table",
+    "Pick the long thin bottle up with the right arm ensuring it stays head-up.",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Lift the brown bottle with red label from the table without mentioning the arm.",
+    "Lift the bottle the red-capped bottle up from the table",
+    "Pick the bottle with ridges on bottom head-up and hold it steady.",
+    "Hold the long thin bottle head-up after lifting it.",
+    "Lift the long thin bottle using the right arm and hold upright",
+    "Use the right arm to hold the bottle with white neck and red top from the table",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Raise the bottle with ridges on bottom in a head-up position",
+    "Utilize the right arm to lift the long thin bottle while keeping it head-up.",
+    "Use the right arm to grab and lift the dark drink bottle with logo head-up.",
+    "Use the right arm to pick up the hand-sized soda bottle from the table.",
+    "Lift the long thin bottle upright carefully using the right arm",
+    "Lift the narrow-necked bottle from the table with the right arm",
+    "Lift the plastic drink bottle from the table and secure upright",
+    "Raise the plastic drink bottle from the table using the correct arm, the right arm.",
+    "Lift the plastic drink bottle head-up from the table.",
+    "Grab the plastic drink bottle from the table and hold it head-up.",
+    "Use the right arm to lift the smooth bottle with red lid head-up",
+    "Grab the long thin bottle head-up using the right arm from the table.",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Using the right arm, pick the smooth bottle with red lid upright",
+    "Grab the long thin bottle and lift it with the right arm",
+    "Grab the narrow-necked bottle with the right arm in a head-up way",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Locate the Coca-Cola bottle and lift it upright with the right arm.",
+    "Pick the medium dark brown bottle head-up using the right arm",
+    "Position the bottle with white neck and red top head-up and lift it"
+  ],
+  "unseen": [
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the correct arm"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the bottle with white neck and red top upright with the right arm",
+    "Pick the dark drink bottle with logo up with the right arm ensuring it stays head-up.",
+    "Pick up the brown bottle with red label upright from the table",
+    "Locate the brown bottle with red label and lift it upright with the right arm.",
+    "Grab the hand-sized soda bottle and lift it with the right arm",
+    "Lift the red-capped bottle head-up from the table.",
+    "Raise the smooth bottle with red lid in a head-up position",
+    "Use the right arm to pick the narrow-necked bottle up and keep it head-up.",
+    "Lift the bottle the red-capped bottle up from the table",
+    "Use the right arm to grab and lift the plastic drink bottle head-up.",
+    "Find the dark drink bottle with logo on the table and raise it using the right arm.",
+    "Utilize the right arm to lift the red-capped bottle while keeping it head-up.",
+    "Hold the smooth bottle with red lid upright from the table",
+    "Grab the bottle with ridges on bottom from the table and hold it head-up.",
+    "Lift the narrow-necked bottle from the table with the right arm",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Grab the plastic drink bottle from the table with the right arm",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Using the right arm, pick the smooth bottle with red lid upright",
+    "Use the correct arm to pick up the dark drink bottle with logo.",
+    "Carefully grab the Coca-Cola bottle head-up",
+    "Pick the plastic drink bottle head-up using the right arm",
+    "Lift the bottle with white neck and red top upright carefully using the right arm",
+    "Lift the smooth bottle with red lid from the table without mentioning the arm.",
+    "Grab the medium dark brown bottle and lift it upward from the table.",
+    "Lift the brown bottle with red label off the table and hold it upright.",
+    "Lift the Coca-Cola bottle from the table and secure upright",
+    "Identify the dark drink bottle with logo and grab it with the right arm",
+    "Pick the Coca-Cola bottle and keep it upright",
+    "Position the bottle with white neck and red top head-up and lift it",
+    "Lift the bottle the bottle with ridges on bottom headup from the table",
+    "Hold the medium dark brown bottle upright after lifting with the right arm",
+    "Raise the long thin bottle from the table using the correct arm, the right arm.",
+    "Grab the smooth bottle with red lid and lift it into a head-up position",
+    "Lift the narrow-necked bottle using the right arm and hold upright",
+    "Lift the Coca-Cola bottle head-up from the table",
+    "Grab the red-capped bottle head-up using the right arm from the table.",
+    "Use the right arm to pick up the brown bottle with red label in the correct orientation",
+    "Pick up the hand-sized soda bottle from the table carefully.",
+    "Hold the hand-sized soda bottle head-up after lifting it.",
+    "Use the right arm to lift the narrow-necked bottle head-up",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Use the right arm to pick up the bottle with white neck and red top from the table.",
+    "Pick up the medium dark brown bottle from the table using the right arm.",
+    "Pick the red-capped bottle upright from the table",
+    "Use the right arm to hold the hand-sized soda bottle from the table",
+    "Pick the plastic drink bottle head-up and hold it steady.",
+    "Grab the bottle with white neck and red top with the right arm in a head-up way",
+    "Grab the red-capped bottle and lift it upright",
+    "Secure the red-capped bottle upright with the right arm",
+    "Pick the narrow-necked bottle up with the right arm ensuring it stays head-up.",
+    "Pick up the brown bottle with red label upright from the table",
+    "Locate the hand-sized soda bottle and lift it upright with the right arm.",
+    "Grab the dark drink bottle with logo and lift it with the right arm",
+    "Lift the dark drink bottle with logo head-up from the table.",
+    "Raise the plastic drink bottle in a head-up position",
+    "Use the right arm to pick the hand-sized soda bottle up and keep it head-up.",
+    "Lift the bottle the bottle with white neck and red top up from the table",
+    "Use the right arm to grab and lift the hand-sized soda bottle head-up.",
+    "Find the long thin bottle on the table and raise it using the right arm.",
+    "Utilize the right arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Hold the hand-sized soda bottle upright from the table",
+    "Grab the Coca-Cola bottle from the table and hold it head-up.",
+    "Lift the bottle with white neck and red top from the table with the right arm",
+    "Lift the narrow-necked bottle from the table upright",
+    "Grab the plastic drink bottle from the table with the right arm",
+    "Take the brown bottle with red label from the table and keep upright",
+    "Using the right arm, pick the hand-sized soda bottle upright",
+    "Use the correct arm to pick up the brown bottle with red label.",
+    "Carefully grab the Coca-Cola bottle head-up",
+    "Pick the plastic drink bottle head-up using the right arm",
+    "Lift the narrow-necked bottle upright carefully using the right arm",
+    "Lift the Coca-Cola bottle from the table without mentioning the arm.",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Lift the brown bottle with red label off the table and hold it upright.",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Identify the plastic drink bottle and grab it with the right arm",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Position the bottle with white neck and red top head-up and lift it",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Hold the narrow-necked bottle upright after lifting with the right arm",
+    "Raise the brown bottle with red label from the table using the correct arm, the right arm.",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Lift the hand-sized soda bottle using the right arm and hold upright",
+    "Lift the Coca-Cola bottle head-up from the table",
+    "Grab the long thin bottle head-up using the right arm from the table.",
+    "Use the right arm to pick up the narrow-necked bottle in the correct orientation",
+    "Pick up the bottle with white neck and red top from the table carefully.",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Use the right arm to lift the Coca-Cola bottle head-up",
+    "Lift the plastic drink bottle ensuring it remains upright.",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Use the right arm to pick up the hand-sized soda bottle from the table.",
+    "Pick up the narrow-necked bottle from the table using the right arm.",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Use the right arm to hold the hand-sized soda bottle from the table",
+    "Pick the dark drink bottle with logo head-up and hold it steady.",
+    "Grab the Coca-Cola bottle with the right arm in a head-up way",
+    "Grab the hand-sized soda bottle and lift it upright"
+  ],
+  "unseen": [
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode50.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Take the brown bottle with red label from the table and keep upright",
+    "Pick the narrow-necked bottle up with the right arm ensuring it stays head-up.",
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Secure the narrow-necked bottle upright with the right arm",
+    "Use the right arm to grab and lift the bottle with ridges on bottom head-up.",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Lift the plastic drink bottle from the table and secure upright",
+    "Pick up the medium dark brown bottle upright from the table",
+    "Pick the long thin bottle upright from the table",
+    "Lift the bottle the plastic drink bottle headup from the table",
+    "Lift the smooth bottle with red lid using the right arm and hold upright",
+    "Grab the brown bottle with red label and lift it upright",
+    "Pick up the bottle with ridges on bottom from the table carefully.",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Identify the narrow-necked bottle and grab it with the right arm",
+    "Grab the smooth bottle with red lid and lift it into a head-up position",
+    "Grab the long thin bottle with the right arm in a head-up way",
+    "Use the right arm to pick the medium dark brown bottle up and keep it head-up.",
+    "Lift the plastic drink bottle head-up from the table",
+    "Lift the red-capped bottle from the table with the right arm",
+    "Using the right arm, pick the plastic drink bottle upright",
+    "Lift the bottle the medium dark brown bottle up from the table",
+    "Pick the bottle with white neck and red top and keep it upright",
+    "Grab the narrow-necked bottle head-up using the right arm from the table.",
+    "Find the medium dark brown bottle on the table and raise it using the right arm.",
+    "Use the correct arm to pick up the plastic drink bottle.",
+    "Utilize the right arm to lift the hand-sized soda bottle while keeping it head-up.",
+    "Use the right arm to hold the plastic drink bottle from the table",
+    "Grab the plastic drink bottle from the table with the right arm",
+    "Hold the bottle with ridges on bottom head-up after lifting it.",
+    "Pick the plastic drink bottle head-up and hold it steady.",
+    "Position the smooth bottle with red lid head-up and lift it",
+    "Use the right arm to pick up the red-capped bottle from the table.",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Pick up the dark drink bottle with logo from the table using the right arm.",
+    "Lift the Coca-Cola bottle upright carefully using the right arm",
+    "Raise the long thin bottle from the table using the correct arm, the right arm.",
+    "Grab the smooth bottle with red lid and lift it with the right arm",
+    "Hold the hand-sized soda bottle upright from the table",
+    "Use the right arm to lift the bottle with white neck and red top head-up",
+    "Raise the bottle with ridges on bottom in a head-up position",
+    "Lift the dark drink bottle with logo ensuring it remains upright.",
+    "Use the right arm to pick up the narrow-necked bottle in the correct orientation",
+    "Locate the long thin bottle and lift it upright with the right arm.",
+    "Hold the bottle with white neck and red top upright after lifting with the right arm",
+    "Pick the hand-sized soda bottle head-up using the right arm",
+    "Lift the plastic drink bottle from the table upright",
+    "Lift the narrow-necked bottle off the table and hold it upright.",
+    "Carefully grab the brown bottle with red label head-up",
+    "Lift the bottle with ridges on bottom from the table without mentioning the arm.",
+    "Take the red-capped bottle from the table and keep upright",
+    "Pick the bottle with white neck and red top up with the right arm ensuring it stays head-up.",
+    "Grab the bottle with white neck and red top from the table and hold it head-up.",
+    "Secure the Coca-Cola bottle upright with the right arm",
+    "Use the right arm to grab and lift the brown bottle with red label head-up.",
+    "Pick the long thin bottle upright from the table",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Pick up the narrow-necked bottle upright from the table",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Lift the bottle the long thin bottle headup from the table",
+    "Lift the red-capped bottle using the right arm and hold upright",
+    "Grab the brown bottle with red label and lift it upright",
+    "Pick up the bottle with ridges on bottom from the table carefully.",
+    "Lift the brown bottle with red label head-up from the table.",
+    "Identify the narrow-necked bottle and grab it with the right arm",
+    "Grab the brown bottle with red label and lift it into a head-up position",
+    "Grab the long thin bottle with the right arm in a head-up way",
+    "Use the right arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Lift the hand-sized soda bottle head-up from the table",
+    "Lift the dark drink bottle with logo from the table with the right arm",
+    "Using the right arm, pick the red-capped bottle upright",
+    "Lift the bottle the medium dark brown bottle up from the table",
+    "Pick the Coca-Cola bottle and keep it upright",
+    "Grab the smooth bottle with red lid head-up using the right arm from the table.",
+    "Find the long thin bottle on the table and raise it using the right arm.",
+    "Use the correct arm to pick up the medium dark brown bottle.",
+    "Utilize the right arm to lift the Coca-Cola bottle while keeping it head-up.",
+    "Use the right arm to hold the hand-sized soda bottle from the table",
+    "Grab the medium dark brown bottle from the table with the right arm",
+    "Hold the bottle with ridges on bottom head-up after lifting it.",
+    "Pick the smooth bottle with red lid head-up and hold it steady.",
+    "Position the Coca-Cola bottle head-up and lift it",
+    "Use the right arm to pick up the medium dark brown bottle from the table.",
+    "Grab the Coca-Cola bottle and lift it upward from the table.",
+    "Pick up the dark drink bottle with logo from the table using the right arm.",
+    "Lift the medium dark brown bottle upright carefully using the right arm",
+    "Raise the brown bottle with red label from the table using the correct arm, the right arm.",
+    "Grab the bottle with white neck and red top and lift it with the right arm",
+    "Hold the long thin bottle upright from the table",
+    "Use the right arm to lift the red-capped bottle head-up",
+    "Raise the medium dark brown bottle in a head-up position",
+    "Lift the narrow-necked bottle ensuring it remains upright.",
+    "Use the right arm to pick up the dark drink bottle with logo in the correct orientation",
+    "Locate the bottle with ridges on bottom and lift it upright with the right arm.",
+    "Hold the dark drink bottle with logo upright after lifting with the right arm",
+    "Pick the brown bottle with red label head-up using the right arm",
+    "Lift the long thin bottle from the table upright",
+    "Lift the red-capped bottle off the table and hold it upright.",
+    "Carefully grab the medium dark brown bottle head-up"
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode52.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the bottle with ridges on bottom from the table carefully.",
+    "Carefully grab the plastic drink bottle head-up",
+    "Pick the smooth bottle with red lid and keep it upright",
+    "Lift the plastic drink bottle ensuring it remains upright.",
+    "Grab the red-capped bottle head-up using the right arm from the table.",
+    "Lift the medium dark brown bottle from the table upright",
+    "Raise the Coca-Cola bottle from the table using the correct arm, the right arm.",
+    "Use the right arm to grab and lift the smooth bottle with red lid head-up.",
+    "Raise the hand-sized soda bottle in a head-up position",
+    "Lift the brown bottle with red label head-up from the table",
+    "Lift the brown bottle with red label from the table with the right arm",
+    "Grab the dark drink bottle with logo with the right arm in a head-up way",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Pick the medium dark brown bottle head-up using the right arm",
+    "Grab the bottle with ridges on bottom and lift it into a head-up position",
+    "Use the right arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Pick the medium dark brown bottle up with the right arm ensuring it stays head-up.",
+    "Locate the medium dark brown bottle and lift it upright with the right arm.",
+    "Pick the narrow-necked bottle upright from the table",
+    "Pick the smooth bottle with red lid head-up and hold it steady.",
+    "Lift the bottle with ridges on bottom upright carefully using the right arm",
+    "Use the right arm to pick up the narrow-necked bottle from the table.",
+    "Pick up the bottle with white neck and red top from the table using the right arm.",
+    "Using the right arm, pick the dark drink bottle with logo upright",
+    "Lift the dark drink bottle with logo head-up from the table.",
+    "Lift the plastic drink bottle using the right arm and hold upright",
+    "Grab the medium dark brown bottle and lift it with the right arm",
+    "Lift the bottle the red-capped bottle up from the table",
+    "Hold the red-capped bottle upright from the table",
+    "Grab the long thin bottle from the table and hold it head-up.",
+    "Grab the bottle with white neck and red top and lift it upward from the table.",
+    "Use the right arm to lift the red-capped bottle head-up",
+    "Lift the long thin bottle off the table and hold it upright.",
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Use the correct arm to pick up the Coca-Cola bottle.",
+    "Use the right arm to hold the dark drink bottle with logo from the table",
+    "Use the right arm to pick up the plastic drink bottle in the correct orientation",
+    "Pick the narrow-necked bottle upright from the table",
+    "Find the smooth bottle with red lid on the table and raise it using the right arm.",
+    "Position the long thin bottle head-up and lift it",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Grab the plastic drink bottle from the table with the right arm",
+    "Lift the bottle with white neck and red top from the table without mentioning the arm.",
+    "Grab the smooth bottle with red lid and lift it upright",
+    "Secure the smooth bottle with red lid upright with the right arm",
+    "Hold the dark drink bottle with logo upright after lifting with the right arm",
+    "Identify the Coca-Cola bottle and grab it with the right arm",
+    "Lift the bottle the bottle with white neck and red top headup from the table",
+    "Pick up the dark drink bottle with logo upright from the table",
+    "Utilize the right arm to lift the plastic drink bottle while keeping it head-up.",
+    "Pick up the narrow-necked bottle from the table carefully.",
+    "Carefully grab the long thin bottle head-up",
+    "Pick the narrow-necked bottle and keep it upright",
+    "Lift the red-capped bottle ensuring it remains upright.",
+    "Grab the bottle with white neck and red top head-up using the right arm from the table.",
+    "Lift the long thin bottle from the table upright",
+    "Raise the hand-sized soda bottle from the table using the correct arm, the right arm.",
+    "Use the right arm to grab and lift the narrow-necked bottle head-up.",
+    "Raise the Coca-Cola bottle in a head-up position",
+    "Lift the brown bottle with red label head-up from the table",
+    "Lift the smooth bottle with red lid from the table with the right arm",
+    "Grab the red-capped bottle with the right arm in a head-up way",
+    "Hold the hand-sized soda bottle head-up after lifting it.",
+    "Pick the long thin bottle head-up using the right arm",
+    "Grab the red-capped bottle and lift it into a head-up position",
+    "Use the right arm to pick the hand-sized soda bottle up and keep it head-up.",
+    "Pick the medium dark brown bottle up with the right arm ensuring it stays head-up.",
+    "Locate the bottle with ridges on bottom and lift it upright with the right arm.",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Pick the hand-sized soda bottle head-up and hold it steady.",
+    "Lift the bottle with white neck and red top upright carefully using the right arm",
+    "Use the right arm to pick up the bottle with white neck and red top from the table.",
+    "Pick up the narrow-necked bottle from the table using the right arm.",
+    "Using the right arm, pick the bottle with ridges on bottom upright",
+    "Lift the smooth bottle with red lid head-up from the table.",
+    "Lift the Coca-Cola bottle using the right arm and hold upright",
+    "Grab the smooth bottle with red lid and lift it with the right arm",
+    "Lift the bottle the plastic drink bottle up from the table",
+    "Hold the long thin bottle upright from the table",
+    "Grab the smooth bottle with red lid from the table and hold it head-up.",
+    "Grab the brown bottle with red label and lift it upward from the table.",
+    "Use the right arm to lift the long thin bottle head-up",
+    "Lift the plastic drink bottle off the table and hold it upright.",
+    "Take the long thin bottle from the table and keep upright",
+    "Use the correct arm to pick up the smooth bottle with red lid.",
+    "Use the right arm to hold the plastic drink bottle from the table",
+    "Use the right arm to pick up the long thin bottle in the correct orientation",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Find the smooth bottle with red lid on the table and raise it using the right arm.",
+    "Position the Coca-Cola bottle head-up and lift it",
+    "Lift the long thin bottle from the table and secure upright",
+    "Grab the smooth bottle with red lid from the table with the right arm",
+    "Lift the dark drink bottle with logo from the table without mentioning the arm.",
+    "Grab the narrow-necked bottle and lift it upright",
+    "Secure the long thin bottle upright with the right arm",
+    "Hold the hand-sized soda bottle upright after lifting with the right arm",
+    "Identify the Coca-Cola bottle and grab it with the right arm",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Pick up the bottle with white neck and red top upright from the table",
+    "Utilize the right arm to lift the dark drink bottle with logo while keeping it head-up."
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up."
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode65.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Raise the Coca-Cola bottle from the table using the correct arm, the left arm.",
+    "Use the left arm to lift the brown bottle with red label head-up",
+    "Grab the bottle with white neck and red top and lift it upright",
+    "Grab the dark drink bottle with logo head-up using the left arm from the table.",
+    "Use the left arm to pick the smooth bottle with red lid up and keep it head-up.",
+    "Hold the plastic drink bottle head-up after lifting it.",
+    "Lift the bottle the smooth bottle with red lid headup from the table",
+    "Lift the dark drink bottle with logo from the table and secure upright",
+    "Identify the brown bottle with red label and grab it with the left arm",
+    "Pick the long thin bottle upright from the table",
+    "Position the long thin bottle head-up and lift it",
+    "Lift the dark drink bottle with logo head-up from the table",
+    "Using the left arm, pick the dark drink bottle with logo upright",
+    "Use the left arm to grab and lift the medium dark brown bottle head-up.",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Use the left arm to pick up the medium dark brown bottle in the correct orientation",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Raise the smooth bottle with red lid in a head-up position",
+    "Grab the brown bottle with red label and lift it with the left arm",
+    "Lift the dark drink bottle with logo upright carefully using the left arm",
+    "Utilize the left arm to lift the narrow-necked bottle while keeping it head-up.",
+    "Find the bottle with ridges on bottom on the table and raise it using the left arm.",
+    "Hold the red-capped bottle upright from the table",
+    "Use the left arm to hold the Coca-Cola bottle from the table",
+    "Use the left arm to pick up the red-capped bottle from the table.",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Pick up the plastic drink bottle from the table using the left arm.",
+    "Secure the bottle with white neck and red top upright with the left arm",
+    "Pick the long thin bottle up with the left arm ensuring it stays head-up.",
+    "Lift the Coca-Cola bottle from the table upright",
+    "Grab the brown bottle with red label with the left arm in a head-up way",
+    "Lift the bottle the dark drink bottle with logo up from the table",
+    "Hold the Coca-Cola bottle upright after lifting with the left arm",
+    "Take the medium dark brown bottle from the table and keep upright",
+    "Lift the long thin bottle from the table without mentioning the arm.",
+    "Pick up the hand-sized soda bottle upright from the table",
+    "Lift the bottle with white neck and red top off the table and hold it upright.",
+    "Grab the medium dark brown bottle from the table and hold it head-up.",
+    "Use the correct arm to pick up the plastic drink bottle.",
+    "Carefully grab the dark drink bottle with logo head-up",
+    "Locate the plastic drink bottle and lift it upright with the left arm.",
+    "Lift the Coca-Cola bottle from the table with the left arm",
+    "Pick the dark drink bottle with logo head-up using the right arm",
+    "Grab the bottle with ridges on bottom and lift it upward from the table.",
+    "Pick the Coca-Cola bottle and keep it upright",
+    "Pick up the Coca-Cola bottle from the table carefully.",
+    "Lift the plastic drink bottle using the left arm and hold upright",
+    "Grab the hand-sized soda bottle and lift it into a head-up position",
+    "Lift the dark drink bottle with logo head-up from the table.",
+    "Raise the red-capped bottle from the table using the correct arm, the left arm.",
+    "Use the left arm to lift the plastic drink bottle head-up",
+    "Grab the red-capped bottle and lift it upright",
+    "Grab the smooth bottle with red lid head-up using the left arm from the table.",
+    "Use the left arm to pick the brown bottle with red label up and keep it head-up.",
+    "Hold the bottle with white neck and red top head-up after lifting it.",
+    "Lift the bottle the medium dark brown bottle headup from the table",
+    "Lift the red-capped bottle from the table and secure upright",
+    "Identify the brown bottle with red label and grab it with the left arm",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Position the brown bottle with red label head-up and lift it",
+    "Lift the plastic drink bottle head-up from the table",
+    "Using the left arm, pick the bottle with ridges on bottom upright",
+    "Use the left arm to grab and lift the hand-sized soda bottle head-up.",
+    "Grab the Coca-Cola bottle from the table with the left arm",
+    "Use the left arm to pick up the narrow-necked bottle in the correct orientation",
+    "Pick the hand-sized soda bottle head-up and hold it steady.",
+    "Lift the smooth bottle with red lid ensuring it remains upright.",
+    "Raise the long thin bottle in a head-up position",
+    "Grab the bottle with ridges on bottom and lift it with the left arm",
+    "Lift the narrow-necked bottle upright carefully using the left arm",
+    "Utilize the left arm to lift the hand-sized soda bottle while keeping it head-up.",
+    "Find the smooth bottle with red lid on the table and raise it using the left arm.",
+    "Hold the Coca-Cola bottle upright from the table",
+    "Use the left arm to hold the medium dark brown bottle from the table",
+    "Use the left arm to pick up the long thin bottle from the table.",
+    "Pick the brown bottle with red label upright from the table",
+    "Pick up the long thin bottle from the table using the left arm.",
+    "Secure the hand-sized soda bottle upright with the left arm",
+    "Pick the medium dark brown bottle up with the left arm ensuring it stays head-up.",
+    "Lift the red-capped bottle from the table upright",
+    "Grab the bottle with white neck and red top with the left arm in a head-up way",
+    "Lift the bottle the plastic drink bottle up from the table",
+    "Hold the plastic drink bottle upright after lifting with the left arm",
+    "Take the plastic drink bottle from the table and keep upright",
+    "Lift the dark drink bottle with logo from the table without mentioning the arm.",
+    "Pick up the medium dark brown bottle upright from the table",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Grab the long thin bottle from the table and hold it head-up.",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Carefully grab the brown bottle with red label head-up",
+    "Locate the hand-sized soda bottle and lift it upright with the left arm.",
+    "Lift the long thin bottle from the table with the left arm",
+    "Pick the bottle with ridges on bottom head-up using the right arm",
+    "Grab the plastic drink bottle and lift it upward from the table.",
+    "Pick the brown bottle with red label and keep it upright",
+    "Pick up the red-capped bottle from the table carefully.",
+    "Lift the dark drink bottle with logo using the left arm and hold upright"
+  ],
+  "unseen": [
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the brown bottle from the table using the left arm."
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode72.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the smooth green bottle upright after lifting with the right arm",
+    "Locate the medium green bottle and lift it upright with the right arm.",
+    "Identify the green bottle with indented base and grab it with the right arm",
+    "Secure the medium-sized green bottle upright with the right arm",
+    "Pick the medium green bottle with capped neck up with the right arm ensuring it stays head-up.",
+    "Use the correct arm to pick up the bottle with narrow top.",
+    "Lift the plastic bottle ensuring it remains upright.",
+    "Use the right arm to grab and lift the bottle with ridges near base head-up.",
+    "Pick the medium-sized green bottle head-up and hold it steady.",
+    "Pick up the green bottle with indented base upright from the table",
+    "Grab the medium green bottle head-up using the right arm from the table.",
+    "Grab the green bottle with indented base and lift it upright",
+    "Use the right arm to pick the handheld green bottle up and keep it head-up.",
+    "Pick up the bottle with ridges near base from the table carefully.",
+    "Lift the green bottle with indented base from the table and secure upright",
+    "Use the right arm to pick up the bottle with ridges near base in the correct orientation",
+    "Pick the medium green bottle upright from the table",
+    "Lift the plastic bottle off the table and hold it upright.",
+    "Pick the medium green bottle with capped neck head-up using the right arm",
+    "Lift the bottle the medium green bottle with capped neck up from the table",
+    "Lift the green bottle with indented base from the table with the right arm",
+    "Carefully grab the bottle with rounded neck head-up",
+    "Position the green bottle with indented base head-up and lift it",
+    "Grab the bottle with white printed label and lift it with the right arm",
+    "Pick the bottle with white printed label upright from the table",
+    "Grab the green bottle with indented base and lift it into a head-up position",
+    "Utilize the right arm to lift the green bottle with indented base while keeping it head-up.",
+    "Lift the bottle the smooth green bottle headup from the table",
+    "Grab the bottle with rounded neck from the table with the right arm",
+    "Use the right arm to pick up the bottle with rounded neck from the table.",
+    "Grab the medium green bottle with the right arm in a head-up way",
+    "Using the right arm, pick the medium green bottle upright",
+    "Grab the bottle with ridges near base and lift it upward from the table.",
+    "Hold the medium-sized green bottle head-up after lifting it.",
+    "Lift the medium-sized green bottle head-up from the table",
+    "Raise the medium-sized green bottle from the table using the correct arm, the right arm.",
+    "Take the medium green bottle with capped neck from the table and keep upright",
+    "Lift the bottle with ridges near base from the table without mentioning the arm.",
+    "Lift the plastic bottle from the table upright",
+    "Find the smooth green bottle on the table and raise it using the right arm.",
+    "Use the right arm to hold the plastic bottle from the table",
+    "Pick up the bottle with ridges near base from the table using the right arm.",
+    "Hold the handheld green bottle upright from the table",
+    "Lift the bottle with white printed label using the right arm and hold upright",
+    "Lift the plastic bottle head-up from the table.",
+    "Use the right arm to lift the medium green bottle with capped neck head-up",
+    "Lift the bottle with rounded neck upright carefully using the right arm",
+    "Grab the bottle with narrow top from the table and hold it head-up.",
+    "Raise the bottle with white printed label in a head-up position",
+    "Pick the medium-sized green bottle and keep it upright",
+    "Hold the green bottle with indented base upright after lifting with the right arm",
+    "Locate the plastic bottle and lift it upright with the right arm.",
+    "Identify the bottle with narrow top and grab it with the right arm",
+    "Secure the smooth green bottle upright with the right arm",
+    "Pick the handheld green bottle up with the right arm ensuring it stays head-up.",
+    "Use the correct arm to pick up the green bottle with indented base.",
+    "Lift the medium green bottle ensuring it remains upright.",
+    "Use the right arm to grab and lift the bottle with rounded neck head-up.",
+    "Pick the bottle with rounded neck head-up and hold it steady.",
+    "Pick up the green bottle with indented base upright from the table",
+    "Grab the medium green bottle head-up using the right arm from the table.",
+    "Grab the bottle with ridges near base and lift it upright",
+    "Use the right arm to pick the green bottle with indented base up and keep it head-up.",
+    "Pick up the medium green bottle from the table carefully.",
+    "Lift the medium green bottle from the table and secure upright",
+    "Use the right arm to pick up the handheld green bottle in the correct orientation",
+    "Pick the plastic bottle upright from the table",
+    "Lift the medium green bottle off the table and hold it upright.",
+    "Pick the medium green bottle with capped neck head-up using the right arm",
+    "Lift the bottle the medium green bottle up from the table",
+    "Lift the smooth green bottle from the table with the right arm",
+    "Carefully grab the smooth green bottle head-up",
+    "Position the bottle with rounded neck head-up and lift it",
+    "Grab the bottle with ridges near base and lift it with the right arm",
+    "Pick the bottle with rounded neck upright from the table",
+    "Grab the green bottle with indented base and lift it into a head-up position",
+    "Utilize the right arm to lift the medium green bottle with capped neck while keeping it head-up.",
+    "Lift the bottle the plastic bottle headup from the table",
+    "Grab the medium-sized green bottle from the table with the right arm",
+    "Use the right arm to pick up the medium green bottle with capped neck from the table.",
+    "Grab the smooth green bottle with the right arm in a head-up way",
+    "Using the right arm, pick the medium green bottle with capped neck upright",
+    "Grab the plastic bottle and lift it upward from the table.",
+    "Hold the handheld green bottle head-up after lifting it.",
+    "Lift the smooth green plastic bottle head-up from the table",
+    "Raise the handheld green bottle from the table using the correct arm, the right arm.",
+    "Take the medium green bottle with capped neck from the table and keep upright",
+    "Lift the bottle with ridges near base from the table without mentioning the arm.",
+    "Lift the medium green bottle from the table upright",
+    "Find the handheld green bottle on the table and raise it using the right arm.",
+    "Use the right arm to hold the medium-sized green bottle from the table",
+    "Pick up the medium green bottle with capped neck from the table using the right arm.",
+    "Hold the medium green bottle upright from the table",
+    "Lift the green bottle with indented base using the right arm and hold upright",
+    "Lift the medium-sized green bottle head-up from the table.",
+    "Use the right arm to lift the bottle with white printed label head-up",
+    "Lift the bottle with ridges near base upright carefully using the right arm",
+    "Grab the medium green bottle with capped neck from the table and hold it head-up.",
+    "Raise the bottle with ridges near base in a head-up position",
+    "Pick the medium green bottle with capped neck and keep it upright"
+  ],
+  "unseen": [
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Use the right arm to grab the green bottle upright",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Use the right arm to grab the green bottle upright",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Use the right arm to grab the green bottle upright",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green bottle from the table with the right arm",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green bottle from the table with the right arm",
+    "Use the right arm to grab the green bottle upright",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Use the right arm to grab the green bottle upright",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Grab the green bottle from the table with the right arm",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Grab the green bottle from the table with the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode78.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the medium green bottle upright from the table",
+    "Hold the smooth green plastic bottle upright after lifting with the right arm",
+    "Pick the green bottle with indented base and keep it upright",
+    "Pick the bottle with narrow top head-up and hold it steady.",
+    "Hold the bottle with white printed label head-up after lifting it.",
+    "Grab the green bottle with indented base and lift it into a head-up position",
+    "Grab the handheld green bottle head-up using the right arm from the table.",
+    "Pick the handheld green bottle upright from the table",
+    "Use the correct arm to pick up the bottle with ridges near base.",
+    "Position the bottle with white printed label head-up and lift it",
+    "Use the right arm to hold the bottle with narrow top from the table",
+    "Lift the smooth green plastic bottle upright carefully using the right arm",
+    "Find the bottle with ridges near base on the table and raise it using the right arm.",
+    "Lift the bottle with rounded neck head-up from the table",
+    "Grab the bottle with narrow top with the right arm in a head-up way",
+    "Grab the bottle with rounded neck and lift it upward from the table.",
+    "Pick up the bottle with rounded neck from the table using the right arm.",
+    "Identify the bottle with rounded neck and grab it with the right arm",
+    "Lift the smooth green plastic bottle from the table and secure upright",
+    "Lift the medium green bottle using the right arm and hold upright",
+    "Pick the handheld green bottle head-up using the right arm",
+    "Grab the green bottle with indented base from the table with the right arm",
+    "Use the right arm to lift the smooth green bottle head-up",
+    "Take the plastic bottle from the table and keep upright",
+    "Using the right arm, pick the smooth green bottle upright",
+    "Lift the handheld green bottle from the table without mentioning the arm.",
+    "Locate the bottle with ridges near base and lift it upright with the right arm.",
+    "Lift the smooth green plastic bottle from the table upright",
+    "Raise the medium green bottle in a head-up position",
+    "Raise the smooth green plastic bottle from the table using the correct arm, the right arm.",
+    "Utilize the right arm to lift the plastic bottle while keeping it head-up.",
+    "Lift the bottle with ridges near base head-up from the table.",
+    "Pick up the plastic bottle from the table carefully.",
+    "Lift the bottle with ridges near base off the table and hold it upright.",
+    "Hold the medium green bottle upright from the table",
+    "Secure the bottle with ridges near base upright with the right arm",
+    "Lift the bottle with white printed label from the table with the right arm",
+    "Use the right arm to pick the medium-sized green bottle up and keep it head-up.",
+    "Use the right arm to pick up the medium-sized green bottle from the table.",
+    "Lift the bottle the smooth green bottle up from the table",
+    "Use the right arm to pick up the bottle with white printed label in the correct orientation",
+    "Carefully grab the plastic bottle head-up",
+    "Grab the medium green bottle with capped neck and lift it with the right arm",
+    "Pick up the smooth green plastic bottle upright from the table",
+    "Grab the medium green bottle from the table and hold it head-up.",
+    "Pick the bottle with narrow top up with the right arm ensuring it stays head-up.",
+    "Lift the handheld green bottle ensuring it remains upright.",
+    "Grab the medium green bottle with capped neck and lift it upright",
+    "Lift the bottle the medium green bottle with capped neck headup from the table",
+    "Use the right arm to grab and lift the medium green bottle with capped neck head-up.",
+    "Pick the smooth green plastic bottle upright from the table",
+    "Hold the bottle with white printed label upright after lifting with the right arm",
+    "Pick the plastic bottle and keep it upright",
+    "Pick the plastic bottle head-up and hold it steady.",
+    "Hold the medium green bottle with capped neck head-up after lifting it.",
+    "Grab the handheld green bottle and lift it into a head-up position",
+    "Grab the green bottle with indented base head-up using the right arm from the table.",
+    "Pick the smooth green bottle upright from the table",
+    "Use the correct arm to pick up the bottle with rounded neck.",
+    "Position the bottle with ridges near base head-up and lift it",
+    "Use the right arm to hold the bottle with narrow top from the table",
+    "Lift the smooth green bottle upright carefully using the right arm",
+    "Find the bottle with ridges near base on the table and raise it using the right arm.",
+    "Lift the bottle with narrow top head-up from the table",
+    "Grab the bottle with white printed label with the right arm in a head-up way",
+    "Grab the bottle with ridges near base and lift it upward from the table.",
+    "Pick up the medium green bottle from the table using the right arm.",
+    "Identify the plastic bottle and grab it with the right arm",
+    "Lift the bottle with ridges near base from the table and secure upright",
+    "Lift the bottle with ridges near base using the right arm and hold upright",
+    "Pick the bottle with white printed label head-up using the right arm",
+    "Grab the bottle with ridges near base from the table with the right arm",
+    "Use the right arm to lift the smooth green bottle head-up",
+    "Take the medium-sized green bottle from the table and keep upright",
+    "Using the right arm, pick the bottle with narrow top upright",
+    "Lift the smooth green plastic bottle from the table without mentioning the arm.",
+    "Locate the smooth green plastic bottle and lift it upright with the right arm.",
+    "Lift the handheld green bottle from the table upright",
+    "Raise the bottle with rounded neck in a head-up position",
+    "Raise the plastic bottle from the table using the correct arm, the right arm.",
+    "Utilize the right arm to lift the smooth green plastic bottle while keeping it head-up.",
+    "Lift the bottle with narrow top head-up from the table.",
+    "Pick up the medium green bottle from the table carefully.",
+    "Lift the medium green bottle with capped neck off the table and hold it upright.",
+    "Hold the handheld green bottle upright from the table",
+    "Secure the bottle with ridges near base upright with the right arm",
+    "Lift the bottle with white printed label from the table with the right arm",
+    "Use the right arm to pick the bottle with ridges near base up and keep it head-up.",
+    "Use the right arm to pick up the green bottle with indented base from the table.",
+    "Lift the bottle the handheld green bottle up from the table",
+    "Use the right arm to pick up the medium green bottle with capped neck in the correct orientation",
+    "Carefully grab the green bottle with indented base head-up",
+    "Grab the bottle with rounded neck and lift it with the right arm",
+    "Pick up the smooth green bottle upright from the table",
+    "Grab the bottle with white printed label from the table and hold it head-up.",
+    "Pick the medium green bottle with capped neck up with the right arm ensuring it stays head-up.",
+    "Lift the medium green bottle with capped neck ensuring it remains upright.",
+    "Grab the green bottle with indented base and lift it upright",
+    "Lift the bottle the handheld green bottle headup from the table",
+    "Use the right arm to grab and lift the smooth green plastic bottle head-up."
+  ],
+  "unseen": [
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label carefully using the right arm"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode8.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the red-capped bottle with the right arm in a head-up way",
+    "Position the hand-sized soda bottle head-up and lift it",
+    "Lift the bottle with white neck and red top upright carefully using the right arm",
+    "Lift the bottle with white neck and red top head-up from the table.",
+    "Pick up the red-capped bottle from the table using the right arm.",
+    "Utilize the right arm to lift the red-capped bottle while keeping it head-up.",
+    "Take the brown bottle with red label from the table and keep upright",
+    "Using the right arm, pick the smooth bottle with red lid upright",
+    "Pick up the hand-sized soda bottle upright from the table",
+    "Lift the bottle the smooth bottle with red lid up from the table",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Pick the medium dark brown bottle upright from the table",
+    "Hold the bottle with white neck and red top upright from the table",
+    "Lift the bottle the hand-sized soda bottle headup from the table",
+    "Raise the bottle with white neck and red top in a head-up position",
+    "Find the Coca-Cola bottle on the table and raise it using the right arm.",
+    "Lift the dark drink bottle with logo from the table without mentioning the arm.",
+    "Identify the hand-sized soda bottle and grab it with the right arm",
+    "Locate the bottle with white neck and red top and lift it upright with the right arm.",
+    "Use the right arm to hold the Coca-Cola bottle from the table",
+    "Use the right arm to lift the brown bottle with red label head-up",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Lift the hand-sized soda bottle from the table with the right arm",
+    "Pick the plastic drink bottle head-up and hold it steady.",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Grab the narrow-necked bottle head-up using the right arm from the table.",
+    "Raise the dark drink bottle with logo from the table using the correct arm, the right arm.",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Hold the Coca-Cola bottle upright after lifting with the right arm",
+    "Use the right arm to grab and lift the brown bottle with red label head-up.",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Grab the smooth bottle with red lid from the table with the right arm",
+    "Pick the narrow-necked bottle head-up using the right arm",
+    "Secure the red-capped bottle upright with the right arm",
+    "Pick up the bottle with white neck and red top from the table carefully.",
+    "Use the right arm to pick the plastic drink bottle up and keep it head-up.",
+    "Grab the dark drink bottle with logo from the table and hold it head-up.",
+    "Grab the smooth bottle with red lid and lift it into a head-up position",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Lift the bottle with ridges on bottom head-up from the table",
+    "Grab the plastic drink bottle and lift it upward from the table.",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Use the right arm to pick up the long thin bottle from the table.",
+    "Lift the dark drink bottle with logo using the right arm and hold upright",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Pick the smooth bottle with red lid and keep it upright",
+    "Pick the narrow-necked bottle up with the right arm ensuring it stays head-up.",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Grab the bottle with white neck and red top and lift it with the right arm",
+    "Use the right arm to pick up the bottle with white neck and red top in the correct orientation",
+    "Grab the bottle with ridges on bottom with the right arm in a head-up way",
+    "Position the long thin bottle head-up and lift it",
+    "Lift the medium dark brown bottle upright carefully using the right arm",
+    "Lift the smooth bottle with red lid head-up from the table.",
+    "Pick up the Coca-Cola bottle from the table using the right arm.",
+    "Utilize the right arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Using the right arm, pick the brown bottle with red label upright",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Lift the bottle the smooth bottle with red lid up from the table",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Pick the medium dark brown bottle upright from the table",
+    "Hold the long thin bottle upright from the table",
+    "Lift the bottle the long thin bottle headup from the table",
+    "Raise the dark drink bottle with logo in a head-up position",
+    "Find the brown bottle with red label on the table and raise it using the right arm.",
+    "Lift the red-capped bottle from the table without mentioning the arm.",
+    "Identify the plastic drink bottle and grab it with the right arm",
+    "Locate the medium dark brown bottle and lift it upright with the right arm.",
+    "Use the right arm to hold the brown bottle with red label from the table",
+    "Use the right arm to lift the brown bottle with red label head-up",
+    "Hold the medium dark brown bottle head-up after lifting it.",
+    "Lift the brown bottle with red label from the table with the right arm",
+    "Pick the bottle with ridges on bottom head-up and hold it steady.",
+    "Carefully grab the smooth bottle with red lid head-up",
+    "Grab the smooth bottle with red lid head-up using the right arm from the table.",
+    "Raise the bottle with white neck and red top from the table using the correct arm, the right arm.",
+    "Lift the bottle with ridges on bottom off the table and hold it upright.",
+    "Hold the Coca-Cola bottle upright after lifting with the right arm",
+    "Use the right arm to grab and lift the narrow-necked bottle head-up.",
+    "Pick the plastic drink bottle upright from the table",
+    "Grab the medium dark brown bottle from the table with the right arm",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Secure the hand-sized soda bottle upright with the right arm",
+    "Pick up the red-capped bottle from the table carefully.",
+    "Use the right arm to pick the narrow-necked bottle up and keep it head-up.",
+    "Grab the medium dark brown bottle from the table and hold it head-up.",
+    "Grab the bottle with ridges on bottom and lift it into a head-up position",
+    "Lift the medium dark brown bottle ensuring it remains upright.",
+    "Lift the smooth bottle with red lid head-up from the table",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Lift the plastic drink bottle from the table upright",
+    "Use the right arm to pick up the smooth bottle with red lid from the table.",
+    "Lift the smooth bottle with red lid using the right arm and hold upright",
+    "Lift the red-capped bottle from the table and secure upright",
+    "Pick the narrow-necked bottle and keep it upright",
+    "Pick the bottle with ridges on bottom up with the right arm ensuring it stays head-up.",
+    "Grab the red-capped bottle and lift it upright",
+    "Grab the plastic drink bottle and lift it with the right arm",
+    "Use the right arm to pick up the red-capped bottle in the correct orientation"
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap from the table head-up."
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode84.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the smooth green bottle upright with the left arm",
+    "Using the left arm, pick the green bottle with indented base upright",
+    "Pick up the medium green bottle from the table using the left arm.",
+    "Pick the smooth green plastic bottle head-up using the right arm",
+    "Lift the bottle the bottle with rounded neck up from the table",
+    "Raise the smooth green plastic bottle in a head-up position",
+    "Pick the medium-sized green bottle upright from the table",
+    "Grab the bottle with rounded neck and lift it with the left arm",
+    "Lift the plastic bottle head-up from the table.",
+    "Identify the smooth green bottle and grab it with the left arm",
+    "Pick the green bottle with indented base upright from the table",
+    "Pick up the bottle with rounded neck from the table carefully.",
+    "Pick the medium green bottle with capped neck head-up and hold it steady.",
+    "Lift the bottle with rounded neck from the table without mentioning the arm.",
+    "Use the left arm to lift the green bottle with indented base head-up",
+    "Use the correct arm to pick up the medium-sized green bottle.",
+    "Position the medium green bottle head-up and lift it",
+    "Grab the bottle with rounded neck and lift it into a head-up position",
+    "Lift the plastic bottle head-up from the table",
+    "Utilize the left arm to lift the medium green bottle while keeping it head-up.",
+    "Lift the plastic bottle upright carefully using the left arm",
+    "Grab the bottle with narrow top and lift it upright",
+    "Pick the bottle with ridges near base up with the left arm ensuring it stays head-up.",
+    "Use the left arm to pick up the smooth green bottle in the correct orientation",
+    "Locate the smooth green plastic bottle and lift it upright with the left arm.",
+    "Lift the green bottle with indented base off the table and hold it upright.",
+    "Grab the medium green bottle with capped neck from the table with the left arm",
+    "Lift the bottle with narrow top from the table and secure upright",
+    "Use the left arm to hold the plastic bottle from the table",
+    "Use the left arm to grab and lift the smooth green bottle head-up.",
+    "Lift the bottle with narrow top ensuring it remains upright.",
+    "Take the smooth green bottle from the table and keep upright",
+    "Use the left arm to pick the bottle with narrow top up and keep it head-up.",
+    "Find the medium-sized green bottle on the table and raise it using the left arm.",
+    "Grab the smooth green bottle from the table and hold it head-up.",
+    "Use the left arm to pick up the medium green bottle from the table.",
+    "Grab the bottle with ridges near base and lift it upward from the table.",
+    "Lift the bottle with rounded neck from the table with the left arm",
+    "Lift the bottle with white printed label using the left arm and hold upright",
+    "Hold the handheld green bottle head-up after lifting it.",
+    "Hold the medium green bottle upright after lifting with the left arm",
+    "Pick the green bottle with indented base and keep it upright",
+    "Carefully grab the smooth green bottle head-up",
+    "Grab the green bottle with indented base head-up using the left arm from the table.",
+    "Hold the handheld green bottle upright from the table",
+    "Raise the bottle with rounded neck from the table using the correct arm, the left arm.",
+    "Lift the smooth green bottle from the table upright",
+    "Pick up the medium green bottle with capped neck upright from the table",
+    "Lift the bottle the bottle with ridges near base headup from the table",
+    "Grab the medium green bottle with capped neck with the left arm in a head-up way",
+    "Secure the smooth green bottle upright with the left arm",
+    "Using the left arm, pick the bottle with rounded neck upright",
+    "Pick up the medium green bottle with capped neck from the table using the left arm.",
+    "Pick the green bottle with indented base head-up using the right arm",
+    "Lift the bottle the medium-sized green bottle up from the table",
+    "Raise the bottle with narrow top in a head-up position",
+    "Pick the green bottle with indented base upright from the table",
+    "Grab the medium green bottle with capped neck and lift it with the left arm",
+    "Lift the plastic bottle head-up from the table.",
+    "Identify the medium-sized green bottle and grab it with the left arm",
+    "Pick the bottle with white printed label upright from the table",
+    "Pick up the bottle with rounded neck from the table carefully.",
+    "Pick the plastic bottle head-up and hold it steady.",
+    "Lift the handheld green bottle from the table without mentioning the arm.",
+    "Use the left arm to lift the medium-sized green bottle head-up",
+    "Use the correct arm to pick up the smooth green bottle.",
+    "Position the plastic bottle head-up and lift it",
+    "Grab the bottle with rounded neck and lift it into a head-up position",
+    "Lift the medium green bottle with capped neck head-up from the table",
+    "Utilize the left arm to lift the handheld green bottle while keeping it head-up.",
+    "Lift the bottle with white printed label upright carefully using the left arm",
+    "Grab the green bottle with indented base and lift it upright",
+    "Pick the plastic bottle up with the left arm ensuring it stays head-up.",
+    "Use the left arm to pick up the bottle with narrow top in the correct orientation",
+    "Locate the bottle with rounded neck and lift it upright with the left arm.",
+    "Lift the green bottle with indented base off the table and hold it upright.",
+    "Grab the bottle with white printed label from the table with the left arm",
+    "Lift the medium green bottle with capped neck from the table and secure upright",
+    "Use the left arm to hold the medium-sized green bottle from the table",
+    "Use the left arm to grab and lift the medium green bottle with capped neck head-up.",
+    "Lift the plastic bottle ensuring it remains upright.",
+    "Take the bottle with white printed label from the table and keep upright",
+    "Use the left arm to pick the medium green bottle up and keep it head-up.",
+    "Find the plastic bottle on the table and raise it using the left arm.",
+    "Grab the handheld green bottle from the table and hold it head-up.",
+    "Use the left arm to pick up the medium green bottle with capped neck from the table.",
+    "Grab the green bottle with indented base and lift it upward from the table.",
+    "Lift the smooth green plastic bottle from the table with the left arm",
+    "Lift the plastic bottle using the left arm and hold upright",
+    "Hold the medium-sized green bottle head-up after lifting it.",
+    "Hold the medium-sized green bottle upright after lifting with the left arm",
+    "Pick the medium-sized green bottle and keep it upright",
+    "Carefully grab the green bottle with indented base head-up",
+    "Grab the handheld green bottle head-up using the left arm from the table.",
+    "Hold the medium green bottle upright from the table",
+    "Raise the medium green bottle with capped neck from the table using the correct arm, the left arm.",
+    "Lift the green bottle with indented base from the table upright",
+    "Pick up the bottle with rounded neck upright from the table",
+    "Lift the bottle the medium green bottle headup from the table",
+    "Grab the bottle with narrow top with the left arm in a head-up way"
+  ],
+  "unseen": [
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green bottle carefully using the left arm",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green bottle carefully using the left arm",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green bottle upright",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green bottle upright",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle carefully using the left arm",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it."
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode85.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the long thin bottle upright from the table",
+    "Lift the red-capped bottle using the right arm and hold upright",
+    "Grab the dark drink bottle with logo head-up using the right arm from the table.",
+    "Use the right arm to lift the hand-sized soda bottle head-up",
+    "Use the right arm to grab and lift the medium dark brown bottle head-up.",
+    "Grab the brown bottle with red label and lift it into a head-up position",
+    "Secure the plastic drink bottle upright with the right arm",
+    "Lift the bottle with white neck and red top off the table and hold it upright.",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Raise the bottle with ridges on bottom in a head-up position",
+    "Using the right arm, pick the brown bottle with red label upright",
+    "Pick up the hand-sized soda bottle from the table using the right arm.",
+    "Grab the dark drink bottle with logo from the table with the right arm",
+    "Lift the bottle the long thin bottle headup from the table",
+    "Lift the Coca-Cola bottle upright carefully using the right arm",
+    "Position the smooth bottle with red lid head-up and lift it",
+    "Use the right arm to pick up the hand-sized soda bottle in the correct orientation",
+    "Use the right arm to hold the brown bottle with red label from the table",
+    "Locate the brown bottle with red label and lift it upright with the right arm.",
+    "Identify the smooth bottle with red lid and grab it with the right arm",
+    "Pick up the narrow-necked bottle from the table carefully.",
+    "Pick the narrow-necked bottle upright from the table",
+    "Carefully grab the Coca-Cola bottle head-up",
+    "Lift the bottle with ridges on bottom ensuring it remains upright.",
+    "Lift the bottle with ridges on bottom from the table upright",
+    "Lift the bottle the bottle with ridges on bottom up from the table",
+    "Hold the bottle with ridges on bottom head-up after lifting it.",
+    "Lift the smooth bottle with red lid from the table without mentioning the arm.",
+    "Find the smooth bottle with red lid on the table and raise it using the right arm.",
+    "Grab the long thin bottle and lift it upright",
+    "Utilize the right arm to lift the narrow-necked bottle while keeping it head-up.",
+    "Grab the plastic drink bottle and lift it upward from the table.",
+    "Pick the red-capped bottle head-up and hold it steady.",
+    "Lift the plastic drink bottle from the table with the right arm",
+    "Grab the bottle with white neck and red top from the table and hold it head-up.",
+    "Use the right arm to pick up the dark drink bottle with logo from the table.",
+    "Pick the red-capped bottle up with the right arm ensuring it stays head-up.",
+    "Lift the red-capped bottle head-up from the table",
+    "Lift the Coca-Cola bottle head-up from the table.",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Raise the Coca-Cola bottle from the table using the correct arm, the right arm.",
+    "Pick the narrow-necked bottle head-up using the right arm",
+    "Grab the narrow-necked bottle with the right arm in a head-up way",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Use the right arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Take the long thin bottle from the table and keep upright",
+    "Pick up the medium dark brown bottle upright from the table",
+    "Use the correct arm to pick up the red-capped bottle.",
+    "Grab the plastic drink bottle and lift it with the right arm",
+    "Hold the narrow-necked bottle upright after lifting with the right arm",
+    "Hold the long thin bottle upright from the table",
+    "Lift the bottle with white neck and red top using the right arm and hold upright",
+    "Grab the hand-sized soda bottle head-up using the right arm from the table.",
+    "Use the right arm to lift the Coca-Cola bottle head-up",
+    "Use the right arm to grab and lift the red-capped bottle head-up.",
+    "Grab the bottle with ridges on bottom and lift it into a head-up position",
+    "Secure the red-capped bottle upright with the right arm",
+    "Lift the brown bottle with red label off the table and hold it upright.",
+    "Lift the dark drink bottle with logo from the table and secure upright",
+    "Raise the bottle with white neck and red top in a head-up position",
+    "Using the right arm, pick the long thin bottle upright",
+    "Pick up the long thin bottle from the table using the right arm.",
+    "Grab the medium dark brown bottle from the table with the right arm",
+    "Lift the bottle the bottle with white neck and red top headup from the table",
+    "Lift the hand-sized soda bottle upright carefully using the right arm",
+    "Position the bottle with ridges on bottom head-up and lift it",
+    "Use the right arm to pick up the dark drink bottle with logo in the correct orientation",
+    "Use the right arm to hold the Coca-Cola bottle from the table",
+    "Locate the red-capped bottle and lift it upright with the right arm.",
+    "Identify the bottle with ridges on bottom and grab it with the right arm",
+    "Pick up the medium dark brown bottle from the table carefully.",
+    "Pick the narrow-necked bottle upright from the table",
+    "Carefully grab the bottle with white neck and red top head-up",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Lift the long thin bottle from the table upright",
+    "Lift the bottle the plastic drink bottle up from the table",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Find the long thin bottle on the table and raise it using the right arm.",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Utilize the right arm to lift the smooth bottle with red lid while keeping it head-up.",
+    "Grab the brown bottle with red label and lift it upward from the table.",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Lift the medium dark brown bottle from the table with the right arm",
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Use the right arm to pick up the long thin bottle from the table.",
+    "Pick the red-capped bottle up with the right arm ensuring it stays head-up.",
+    "Lift the brown bottle with red label head-up from the table",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Pick the medium dark brown bottle upright from the table",
+    "Raise the long thin bottle from the table using the correct arm, the right arm.",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Grab the long thin bottle with the right arm in a head-up way",
+    "Pick the bottle with white neck and red top and keep it upright",
+    "Use the right arm to pick the dark drink bottle with logo up and keep it head-up.",
+    "Take the bottle with ridges on bottom from the table and keep upright",
+    "Pick up the brown bottle with red label upright from the table",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Grab the smooth bottle with red lid and lift it with the right arm",
+    "Hold the bottle with white neck and red top upright after lifting with the right arm"
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the brown bottle using the correct arm"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode87.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle the medium green bottle headup from the table",
+    "Raise the medium green bottle from the table using the correct arm, the right arm.",
+    "Locate the medium-sized green bottle and lift it upright with the right arm.",
+    "Lift the green bottle with indented base from the table with the right arm",
+    "Utilize the right arm to lift the smooth green bottle while keeping it head-up.",
+    "Use the right arm to lift the green bottle with indented base head-up",
+    "Pick the green bottle with indented base upright from the table",
+    "Identify the medium-sized green bottle and grab it with the right arm",
+    "Use the right arm to pick the smooth green bottle up and keep it head-up.",
+    "Grab the handheld green bottle and lift it upright",
+    "Pick up the medium green bottle with capped neck from the table carefully.",
+    "Using the right arm, pick the smooth green plastic bottle upright",
+    "Use the right arm to pick up the smooth green bottle from the table.",
+    "Lift the medium green bottle with capped neck off the table and hold it upright.",
+    "Lift the plastic bottle from the table and secure upright",
+    "Lift the handheld green bottle from the table without mentioning the arm.",
+    "Lift the bottle with ridges near base using the right arm and hold upright",
+    "Find the plastic bottle on the table and raise it using the right arm.",
+    "Hold the smooth green plastic bottle head-up after lifting it.",
+    "Use the right arm to pick up the smooth green plastic bottle in the correct orientation",
+    "Hold the green bottle with indented base upright after lifting with the right arm",
+    "Hold the green bottle with indented base upright from the table",
+    "Lift the plastic bottle head-up from the table.",
+    "Use the right arm to grab and lift the plastic bottle head-up.",
+    "Lift the medium green bottle ensuring it remains upright.",
+    "Position the bottle with rounded neck head-up and lift it",
+    "Grab the bottle with narrow top from the table with the right arm",
+    "Carefully grab the bottle with ridges near base head-up",
+    "Take the bottle with ridges near base from the table and keep upright",
+    "Pick the bottle with white printed label head-up and hold it steady.",
+    "Pick the bottle with narrow top up with the right arm ensuring it stays head-up.",
+    "Pick up the smooth green bottle from the table using the right arm.",
+    "Use the right arm to hold the smooth green bottle from the table",
+    "Lift the bottle the medium green bottle with capped neck up from the table",
+    "Grab the green bottle with indented base head-up using the right arm from the table.",
+    "Pick the bottle with narrow top and keep it upright",
+    "Grab the bottle with rounded neck with the right arm in a head-up way",
+    "Raise the bottle with narrow top in a head-up position",
+    "Grab the bottle with rounded neck from the table and hold it head-up.",
+    "Pick the medium green bottle with capped neck upright from the table",
+    "Grab the medium green bottle with capped neck and lift it upward from the table.",
+    "Lift the green bottle with indented base from the table upright",
+    "Secure the smooth green plastic bottle upright with the right arm",
+    "Lift the medium-sized green bottle upright carefully using the right arm",
+    "Lift the bottle with white printed label head-up from the table",
+    "Grab the bottle with white printed label and lift it with the right arm",
+    "Pick the smooth green bottle head-up using the right arm",
+    "Grab the medium green bottle with capped neck and lift it into a head-up position",
+    "Pick up the smooth green bottle upright from the table",
+    "Use the correct arm to pick up the plastic bottle.",
+    "Lift the bottle the medium green bottle headup from the table",
+    "Raise the green bottle with indented base from the table using the correct arm, the right arm.",
+    "Locate the smooth green bottle and lift it upright with the right arm.",
+    "Lift the medium green bottle with capped neck from the table with the right arm",
+    "Utilize the right arm to lift the bottle with rounded neck while keeping it head-up.",
+    "Use the right arm to lift the smooth green plastic bottle head-up",
+    "Pick the bottle with narrow top upright from the table",
+    "Identify the medium green bottle and grab it with the right arm",
+    "Use the right arm to pick the medium green bottle up and keep it head-up.",
+    "Grab the medium green bottle and lift it upright",
+    "Pick up the smooth green plastic bottle from the table carefully.",
+    "Using the right arm, pick the bottle with rounded neck upright",
+    "Use the right arm to pick up the medium green bottle with capped neck from the table.",
+    "Lift the medium green bottle with capped neck off the table and hold it upright.",
+    "Lift the smooth green plastic bottle from the table and secure upright",
+    "Lift the green bottle with indented base from the table without mentioning the arm.",
+    "Lift the medium green bottle with capped neck using the right arm and hold upright",
+    "Find the smooth green bottle on the table and raise it using the right arm.",
+    "Hold the medium green bottle head-up after lifting it.",
+    "Use the right arm to pick up the medium-sized green bottle in the correct orientation",
+    "Hold the handheld green bottle upright after lifting with the right arm",
+    "Hold the green bottle with indented base upright from the table",
+    "Lift the bottle with ridges near base head-up from the table.",
+    "Use the right arm to grab and lift the bottle with ridges near base head-up.",
+    "Lift the plastic bottle ensuring it remains upright.",
+    "Position the smooth green plastic bottle head-up and lift it",
+    "Grab the smooth green plastic bottle from the table with the right arm",
+    "Carefully grab the bottle with white printed label head-up",
+    "Take the bottle with white printed label from the table and keep upright",
+    "Pick the bottle with ridges near base head-up and hold it steady.",
+    "Pick the bottle with rounded neck up with the right arm ensuring it stays head-up.",
+    "Pick up the bottle with narrow top from the table using the right arm.",
+    "Use the right arm to hold the smooth green bottle from the table",
+    "Lift the bottle the medium green bottle with capped neck up from the table",
+    "Grab the bottle with white printed label head-up using the right arm from the table.",
+    "Pick the green bottle with indented base and keep it upright",
+    "Grab the green bottle with indented base with the right arm in a head-up way",
+    "Raise the medium-sized green bottle in a head-up position",
+    "Grab the handheld green bottle from the table and hold it head-up.",
+    "Pick the medium green bottle upright from the table",
+    "Grab the plastic bottle and lift it upward from the table.",
+    "Lift the plastic bottle from the table upright",
+    "Secure the medium-sized green bottle upright with the right arm",
+    "Lift the bottle with ridges near base upright carefully using the right arm",
+    "Lift the medium green bottle with capped neck head-up from the table",
+    "Grab the bottle with ridges near base and lift it with the right arm",
+    "Pick the medium green bottle head-up using the right arm",
+    "Grab the bottle with rounded neck and lift it into a head-up position",
+    "Pick up the plastic bottle upright from the table",
+    "Use the correct arm to pick up the bottle with narrow top."
+  ],
+  "unseen": [
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the right arm"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode89.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the dark drink bottle with logo and lift it with the right arm",
+    "Pick the dark drink bottle with logo up with the right arm ensuring it stays head-up.",
+    "Position the plastic drink bottle head-up and lift it",
+    "Grab the medium dark brown bottle from the table and hold it head-up.",
+    "Use the correct arm to pick up the medium dark brown bottle.",
+    "Pick the bottle with ridges on bottom head-up and hold it steady.",
+    "Use the right arm to pick up the smooth bottle with red lid from the table.",
+    "Lift the red-capped bottle from the table upright",
+    "Raise the smooth bottle with red lid in a head-up position",
+    "Lift the hand-sized soda bottle from the table with the right arm",
+    "Lift the Coca-Cola bottle upright carefully using the right arm",
+    "Grab the red-capped bottle from the table with the right arm",
+    "Lift the bottle the narrow-necked bottle headup from the table",
+    "Hold the long thin bottle upright after lifting with the right arm",
+    "Grab the plastic drink bottle and lift it into a head-up position",
+    "Use the right arm to hold the smooth bottle with red lid from the table",
+    "Grab the bottle with ridges on bottom and lift it upward from the table.",
+    "Lift the bottle the bottle with ridges on bottom up from the table",
+    "Grab the medium dark brown bottle with the right arm in a head-up way",
+    "Secure the narrow-necked bottle upright with the right arm",
+    "Find the red-capped bottle on the table and raise it using the right arm.",
+    "Pick up the medium dark brown bottle from the table using the right arm.",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Hold the long thin bottle head-up after lifting it.",
+    "Use the right arm to lift the medium dark brown bottle head-up",
+    "Grab the brown bottle with red label and lift it upright",
+    "Use the right arm to pick the brown bottle with red label up and keep it head-up.",
+    "Locate the Coca-Cola bottle and lift it upright with the right arm.",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Lift the dark drink bottle with logo from the table and secure upright",
+    "Lift the plastic drink bottle off the table and hold it upright.",
+    "Lift the brown bottle with red label head-up from the table",
+    "Use the right arm to pick up the bottle with white neck and red top in the correct orientation",
+    "Pick the narrow-necked bottle head-up using the right arm",
+    "Raise the hand-sized soda bottle from the table using the correct arm, the right arm.",
+    "Using the right arm, pick the dark drink bottle with logo upright",
+    "Lift the red-capped bottle head-up from the table.",
+    "Carefully grab the bottle with white neck and red top head-up",
+    "Identify the hand-sized soda bottle and grab it with the right arm",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Pick up the bottle with white neck and red top from the table carefully.",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Lift the Coca-Cola bottle using the right arm and hold upright",
+    "Use the right arm to grab and lift the narrow-necked bottle head-up.",
+    "Hold the medium dark brown bottle upright from the table",
+    "Grab the bottle with white neck and red top head-up using the right arm from the table.",
+    "Take the bottle with ridges on bottom from the table and keep upright",
+    "Pick the narrow-necked bottle and keep it upright",
+    "Utilize the right arm to lift the red-capped bottle while keeping it head-up.",
+    "Lift the red-capped bottle from the table without mentioning the arm.",
+    "Grab the long thin bottle and lift it with the right arm",
+    "Pick the narrow-necked bottle up with the right arm ensuring it stays head-up.",
+    "Position the narrow-necked bottle head-up and lift it",
+    "Grab the plastic drink bottle from the table and hold it head-up.",
+    "Use the correct arm to pick up the narrow-necked bottle.",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Use the right arm to pick up the bottle with ridges on bottom from the table.",
+    "Lift the red-capped bottle from the table upright",
+    "Raise the bottle with ridges on bottom in a head-up position",
+    "Lift the dark drink bottle with logo from the table with the right arm",
+    "Lift the narrow-necked bottle upright carefully using the right arm",
+    "Grab the brown bottle with red label from the table with the right arm",
+    "Lift the bottle the narrow-necked bottle headup from the table",
+    "Hold the narrow-necked bottle upright after lifting with the right arm",
+    "Grab the narrow-necked bottle and lift it into a head-up position",
+    "Use the right arm to hold the brown bottle with red label from the table",
+    "Grab the plastic drink bottle and lift it upward from the table.",
+    "Lift the bottle the smooth bottle with red lid up from the table",
+    "Grab the medium dark brown bottle with the right arm in a head-up way",
+    "Secure the brown bottle with red label upright with the right arm",
+    "Find the long thin bottle on the table and raise it using the right arm.",
+    "Pick up the narrow-necked bottle from the table using the right arm.",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Hold the hand-sized soda bottle head-up after lifting it.",
+    "Use the right arm to lift the brown bottle with red label head-up",
+    "Grab the plastic drink bottle and lift it upright",
+    "Use the right arm to pick the red-capped bottle up and keep it head-up.",
+    "Locate the dark drink bottle with logo and lift it upright with the right arm.",
+    "Pick up the Coca-Cola bottle upright from the table",
+    "Lift the long thin bottle from the table and secure upright",
+    "Lift the brown bottle with red label off the table and hold it upright.",
+    "Lift the plastic drink bottle head-up from the table",
+    "Use the right arm to pick up the brown bottle with red label in the correct orientation",
+    "Pick the dark drink bottle with logo head-up using the right arm",
+    "Raise the hand-sized soda bottle from the table using the correct arm, the right arm.",
+    "Using the right arm, pick the red-capped bottle upright",
+    "Lift the hand-sized soda bottle head-up from the table.",
+    "Carefully grab the bottle with white neck and red top head-up",
+    "Identify the Coca-Cola bottle and grab it with the right arm",
+    "Pick the long thin bottle upright from the table",
+    "Pick up the brown bottle with red label from the table carefully.",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Lift the dark drink bottle with logo using the right arm and hold upright",
+    "Use the right arm to grab and lift the bottle with white neck and red top head-up.",
+    "Hold the bottle with white neck and red top upright from the table",
+    "Grab the bottle with white neck and red top head-up using the right arm from the table.",
+    "Take the hand-sized soda bottle from the table and keep upright",
+    "Pick the brown bottle with red label and keep it upright",
+    "Utilize the right arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Lift the dark drink bottle with logo from the table without mentioning the arm."
+  ],
+  "unseen": [
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle carefully using the right arm"
+  ]
+}

adjust_bottle/demo_diverse/instructions/episode96.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and lift the bottle with white neck and red top head-up.",
+    "Utilize the left arm to lift the bottle with ridges on bottom while keeping it head-up.",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Find the hand-sized soda bottle on the table and raise it using the left arm.",
+    "Identify the narrow-necked bottle and grab it with the left arm",
+    "Hold the long thin bottle upright from the table",
+    "Lift the bottle with white neck and red top upright carefully using the left arm",
+    "Pick the medium dark brown bottle and keep it upright",
+    "Locate the Coca-Cola bottle and lift it upright with the left arm.",
+    "Lift the red-capped bottle head-up from the table",
+    "Lift the bottle the Coca-Cola bottle headup from the table",
+    "Pick the plastic drink bottle upright from the table",
+    "Use the correct arm to pick up the medium dark brown bottle.",
+    "Pick up the dark drink bottle with logo from the table using the left arm.",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Pick up the plastic drink bottle upright from the table",
+    "Position the red-capped bottle head-up and lift it",
+    "Take the plastic drink bottle from the table and keep upright",
+    "Lift the bottle with ridges on bottom off the table and hold it upright.",
+    "Lift the bottle with ridges on bottom using the left arm and hold upright",
+    "Raise the Coca-Cola bottle in a head-up position",
+    "Lift the plastic drink bottle head-up from the table.",
+    "Raise the bottle with ridges on bottom from the table using the correct arm, the left arm.",
+    "Carefully grab the Coca-Cola bottle head-up",
+    "Use the left arm to lift the smooth bottle with red lid head-up",
+    "Use the left arm to pick the hand-sized soda bottle up and keep it head-up.",
+    "Grab the medium dark brown bottle head-up using the left arm from the table.",
+    "Hold the plastic drink bottle head-up after lifting it.",
+    "Pick up the bottle with white neck and red top from the table carefully.",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Lift the smooth bottle with red lid from the table and secure upright",
+    "Grab the red-capped bottle with the left arm in a head-up way",
+    "Use the left arm to pick up the smooth bottle with red lid from the table.",
+    "Use the left arm to pick up the plastic drink bottle in the correct orientation",
+    "Grab the medium dark brown bottle and lift it upward from the table.",
+    "Hold the brown bottle with red label upright after lifting with the left arm",
+    "Pick the Coca-Cola bottle up with the left arm ensuring it stays head-up.",
+    "Grab the long thin bottle and lift it with the left arm",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Grab the hand-sized soda bottle from the table with the left arm",
+    "Lift the bottle the smooth bottle with red lid up from the table",
+    "Use the left arm to hold the long thin bottle from the table",
+    "Lift the hand-sized soda bottle from the table without mentioning the arm.",
+    "Grab the bottle with white neck and red top from the table and hold it head-up.",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Lift the hand-sized soda bottle from the table upright",
+    "Lift the long thin bottle from the table with the left arm",
+    "Using the left arm, pick the brown bottle with red label upright",
+    "Secure the hand-sized soda bottle upright with the left arm",
+    "Use the left arm to grab and lift the smooth bottle with red lid head-up.",
+    "Utilize the left arm to lift the brown bottle with red label while keeping it head-up.",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Find the hand-sized soda bottle on the table and raise it using the left arm.",
+    "Identify the bottle with ridges on bottom and grab it with the left arm",
+    "Hold the medium dark brown bottle upright from the table",
+    "Lift the hand-sized soda bottle upright carefully using the left arm",
+    "Pick the medium dark brown bottle and keep it upright",
+    "Locate the plastic drink bottle and lift it upright with the left arm.",
+    "Lift the bottle with white neck and red top head-up from the table",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Pick the medium dark brown bottle upright from the table",
+    "Use the correct arm to pick up the bottle with ridges on bottom.",
+    "Pick up the red-capped bottle from the table using the left arm.",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Pick up the long thin bottle upright from the table",
+    "Position the hand-sized soda bottle head-up and lift it",
+    "Take the dark drink bottle with logo from the table and keep upright",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Lift the bottle with white neck and red top using the left arm and hold upright",
+    "Raise the bottle with white neck and red top in a head-up position",
+    "Lift the red-capped bottle head-up from the table.",
+    "Raise the red-capped bottle from the table using the correct arm, the left arm.",
+    "Carefully grab the long thin bottle head-up",
+    "Use the left arm to lift the smooth bottle with red lid head-up",
+    "Use the left arm to pick the dark drink bottle with logo up and keep it head-up.",
+    "Grab the red-capped bottle head-up using the left arm from the table.",
+    "Hold the long thin bottle head-up after lifting it.",
+    "Pick up the long thin bottle from the table carefully.",
+    "Grab the long thin bottle and lift it upright",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Lift the plastic drink bottle from the table and secure upright",
+    "Grab the brown bottle with red label with the left arm in a head-up way",
+    "Use the left arm to pick up the dark drink bottle with logo from the table.",
+    "Use the left arm to pick up the narrow-necked bottle in the correct orientation",
+    "Grab the dark drink bottle with logo and lift it upward from the table.",
+    "Hold the plastic drink bottle upright after lifting with the left arm",
+    "Pick the hand-sized soda bottle up with the left arm ensuring it stays head-up.",
+    "Grab the long thin bottle and lift it with the left arm",
+    "Lift the medium dark brown bottle ensuring it remains upright.",
+    "Grab the bottle with ridges on bottom from the table with the left arm",
+    "Lift the bottle the narrow-necked bottle up from the table",
+    "Use the left arm to hold the bottle with white neck and red top from the table",
+    "Lift the bottle with ridges on bottom from the table without mentioning the arm.",
+    "Grab the plastic drink bottle from the table and hold it head-up.",
+    "Pick the medium dark brown bottle head-up and hold it steady.",
+    "Lift the hand-sized soda bottle from the table upright",
+    "Lift the medium dark brown bottle from the table with the left arm",
+    "Using the left arm, pick the hand-sized soda bottle upright",
+    "Secure the bottle with ridges on bottom upright with the left arm"
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it."
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer for nails and strike the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Take the hammer for nails and smash the block.",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grab the silver hammer and use it to hit",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Pick up the silver hammer and strike the block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Take the hammer for nails and beat the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Lift the hammer for nails, then beat the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Pick the hammer for nails and strike the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Take the grippy handle hammer and hammer the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block"
+  ],
+  "unseen": [
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block."
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the grippy handle hammer then hit the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Take the hammer for nails and beat the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Take the silver hammer and beat the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Grab the grippy handle hammer and use it to hit",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Take the silver hammer and beat the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Take the silver hammer and beat the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the hammer for nails using the left arm then pound block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Grab the silver curved hammer head and use it to hit",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Pick the plastic handle metal hammer and smash the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the grippy handle hammer and use it on the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Grab the hammer for nails and use it to hit",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Pick the nail-driving hammer and strike the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Take the silver hammer and strike the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Lift the nail-driving hammer and hit the block.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Take the hammer for nails and smash the block.",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Take the nail-driving hammer and strike the block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Take the grippy handle hammer and beat the block",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Pick the nail-driving hammer and smash the block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Take the nail-driving hammer and hammer the block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Lift the grippy handle hammer and hit the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Lift the plastic handle metal hammer, then beat the block."
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer for nails, then strike the block.",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Take the silver hammer and strike the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Lift the silver hammer and hit the block.",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Use the right arm to grab the silver hammer and beat",
+    "Grab the silver curved hammer head to beat the block.",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Take the hammer for nails and smash the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Lift the nail-driving hammer and hit the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick the hammer for nails from the table and strike",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Take the silver hammer and beat the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick the grippy handle hammer and smash the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Grab the silver hammer, then hit the block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the grippy handle hammer and beat the block",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Pick the silver hammer from the table and strike",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Pick up the silver hammer and strike the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the silver curved hammer head and beat the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Hold the silver hammer and pound the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Take the hammer for nails and hammer the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the black and yellow hammer grip and strike the block",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Take the silver hammer and strike the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Take the silver hammer and smash the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Take the hammer for nails and hammer the block",
+    "Take the silver hammer and beat the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Take the nail-driving hammer and strike the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Use the grippy handle hammer to hammer the block.",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Pick the silver hammer from the table and strike",
+    "Grab the silver hammer, then strike the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Take the silver hammer and beat the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick up the silver hammer using the right arm then beat",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Take the hammer with two-tone handle and beat the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Take the silver curved hammer head and strike the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Lift the silver curved hammer head and hit the block.",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Use the right arm to grab the silver hammer and beat",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Pick up the silver hammer using the right arm then beat",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Lift the grippy handle hammer and hit the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Take the silver hammer and beat the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Pick the hammer for nails from the table and strike",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Pick up the silver hammer and use it on the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the silver hammer to beat the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Take the silver curved hammer head and strike the block",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Lift the hammer for nails and hit the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Use the right arm to take the silver hammer and strike",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Grab the hammer for nails and use it to hit",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Take the silver hammer and beat the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Grab the silver curved hammer head, then hit the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block."
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Pick the silver hammer and strike the block.",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Grab the silver hammer and use it to hit",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Take the silver hammer and beat the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Pick the hammer for nails from the table and strike",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Hold the silver hammer and pound the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Take the medium-sized metal hammer and beat the block",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Take the hammer for nails and smash the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Pick the silver hammer and strike the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Lift the nail-driving hammer and hit the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Use the right arm to take the hammer for nails and strike",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Take the grippy handle hammer and beat the block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Lift the nail-driving hammer with the right arm then strike block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw."
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick the hammer for nails and smash the block",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Take the nail-driving hammer and strike the block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Take the hammer for nails and strike the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Hold the hammer for nails and pound the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Catch the silver hammer and use it on the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Grab the silver hammer to beat the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Take the grippy handle hammer and strike the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the silver hammer, then hit the block",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Grab the hammer with claw-shaped end to beat the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle."
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the silver hammer and hammer the block",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Use the silver hammer to hammer the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Use the right arm to grab the hammer for nails and beat",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Lift the grippy handle hammer and hit the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the black and yellow hammer grip and strike the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Use the right arm to take the silver hammer and strike",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Lift the hammer for nails and hit the block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block."
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the silver hammer with the right arm then strike block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Lift the silver hammer and hit the block",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Take the silver hammer and beat the block",
+    "Lift the silver hammer, then beat the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Take the silver hammer and smash the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Lift the silver hammer and hit the block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Take the silver hammer and strike the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Pick up the nail-driving hammer and strike the block",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the nail-driving hammer, then strike the block."
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Take the nail-driving hammer and beat the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Grab the silver hammer and use it to hit",
+    "Use the left arm to take the hammer for nails and strike",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Lift the silver hammer, then beat the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Take the nail-driving hammer and strike the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the hammer for nails to beat the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Hold the silver hammer then hit the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Pick the hammer for nails and smash the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Pick up the silver hammer and strike the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Lift the silver hammer and hit the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the silver hammer, then strike the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Take the silver hammer and hammer the block",
+    "Take the hammer for nails and strike the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Pick the silver hammer and strike the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Hold the hammer for nails then hit the block",
+    "Take the nail-driving hammer and smash the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Lift the silver hammer and hit the block",
+    "Grab the silver hammer, then strike the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Lift the silver hammer with the left arm then strike block",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the silver hammer and use it to hit",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the silver hammer to beat the block.",
+    "Make the left arm grab the handheld medium claw hammer and strike the block."
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode21.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Take the grippy handle hammer and smash the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the silver hammer with the left arm and strike block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Pick the grippy handle hammer and strike the block.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Take the nail-driving hammer and strike the block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Pick the grippy handle hammer and strike the block.",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Take the silver hammer and strike the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Grab the silver hammer with the left arm and beat the block."
+  ],
+  "unseen": [
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode22.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Pick the grippy handle hammer and smash the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Take the silver hammer and strike the block",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the hammer for nails and strike the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Take the yellow and black hammer grip and beat the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Lift the hammer for nails and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Grab the silver curved hammer head, then hit the block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Take the nail-driving hammer and beat the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Pick the silver hammer from the table and strike",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Take the silver hammer and hammer the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode23.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Pick the hammer for nails from the table and strike",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Take the grippy handle hammer and beat the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the silver hammer using the left arm then pound block",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Pick the hammer for nails and smash the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Grab the plastic handle metal hammer with the left arm and hit the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle."
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode24.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Pick up the grippy handle hammer and strike the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Take the grippy handle hammer and smash the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Take the silver curved hammer head and beat the block",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the silver hammer using the right arm then pound block",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Pick the hammer for nails from the table and strike",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Take the grippy handle hammer and smash the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Lift the silver hammer, then beat the block.",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the silver hammer and use it to hit",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Pick the nail-driving hammer and smash the block",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Take the hammer for nails and strike the block",
+    "With the right arm, grab the nail-driving hammer and hit the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode26.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Take the hammer for nails and beat the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Catch the hammer for nails and use it on the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Pick up the nail-driving hammer and use it on the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Lift the hammer for nails and hit the block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Lift the silver hammer, then beat the block.",
+    "Take the hammer for nails and hammer the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Pick the silver hammer from the table and strike",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Grab the silver hammer with the left arm and strike block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Take the silver curved hammer head and smash the block."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block"
+  ]
+}

beat_block_hammer/demo_diverse/instructions/episode27.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the hammer for nails and pound the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Pick the hammer for nails from the table and strike",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Catch the silver hammer and use it on the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Pick up the hammer for nails and strike the block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Take the grippy handle hammer and beat the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Take the hammer for nails and hammer the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Grab the silver hammer using the right arm and strike the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}