diff --git a/adjust_bottle/demo_diverse/instructions/episode0.json b/adjust_bottle/demo_diverse/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..09b0571aa9a12bb2af233d361d6385246b0bb337
--- /dev/null
+++ b/adjust_bottle/demo_diverse/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode1.json b/adjust_bottle/demo_diverse/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd13af42e42808813580f54518e61854de4bbc03
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode11.json b/adjust_bottle/demo_diverse/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3daa7e2659067df20f02c103f7cdcaa3ca211b1
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode14.json b/adjust_bottle/demo_diverse/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..62bab05b7ea353136858a47e78cad394b379f672
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode18.json b/adjust_bottle/demo_diverse/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..849616832d7485250f8e04b43d5a09410cf436df
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode2.json b/adjust_bottle/demo_diverse/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7797e8c7206fb18e618dec99278a783b1af086d9
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode21.json b/adjust_bottle/demo_diverse/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..334fc5ceb2392b3de5a12b883ea7d1a52ca2cb6c
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode27.json b/adjust_bottle/demo_diverse/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..4577ec732a88ce70a6e86beeb876cfe9f249fc09
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode28.json b/adjust_bottle/demo_diverse/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..fab06e3ce0eba200cfbb0052bee0466e26a88c17
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode32.json b/adjust_bottle/demo_diverse/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7672ed0dff191816483f1490b5b8958b89cb691
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode36.json b/adjust_bottle/demo_diverse/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f7bcfe93bf91b32a9053dafb38271feb28f1a0c
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode39.json b/adjust_bottle/demo_diverse/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba05715ce9b1642ce07d5de5a9702c49d7fb139f
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode4.json b/adjust_bottle/demo_diverse/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..098c61455ff378543a3f5288ec0fa4764a463bf1
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode40.json b/adjust_bottle/demo_diverse/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..363ca5994bdd6880af3c2bc4274d4154cbb1a234
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode43.json b/adjust_bottle/demo_diverse/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e61af5553785447183ec6a2c1d637fe809d8d3c
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode46.json b/adjust_bottle/demo_diverse/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bde64174f608deed16225295a2c564909f1ff90
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode47.json b/adjust_bottle/demo_diverse/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..d16e4a6456838fb69b20b75c09f271a444ce82a9
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode48.json b/adjust_bottle/demo_diverse/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..87339830f51d1bed37ea0e14a13384d6cccd9281
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode49.json b/adjust_bottle/demo_diverse/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd73fc529960f82263a8d5ff415937a4eea2da2
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode5.json b/adjust_bottle/demo_diverse/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..957c26d40c66c83a58f82677fab80af9669e101e
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode50.json b/adjust_bottle/demo_diverse/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..24492080018b1b574c06c53e0b695ac7484f61ab
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode52.json b/adjust_bottle/demo_diverse/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f4a8e3863630e3bfce144c8a76f159b56572d26
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode65.json b/adjust_bottle/demo_diverse/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..155238c99c8b8f11123a2ba51c6c190ad90cb0cc
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode72.json b/adjust_bottle/demo_diverse/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d9ffe06944206291638d257cefae354fbb8ba3d
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode78.json b/adjust_bottle/demo_diverse/instructions/episode78.json
new file mode 100644
index 0000000000000000000000000000000000000000..2599f6982ebd0ad86711639b5ef51d7bee9eb3c1
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode8.json b/adjust_bottle/demo_diverse/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..7057b69900ab15434506877f4f1e2ce47ccfc772
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode84.json b/adjust_bottle/demo_diverse/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbbe005306fe333cf82b18e2bb6806d112a473c7
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode85.json b/adjust_bottle/demo_diverse/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..04e4b8e62055a97a3334f543c3abc1075603b08f
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode87.json b/adjust_bottle/demo_diverse/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..fad9ab0588d2cba8169d2d604bc14440c9540298
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode89.json b/adjust_bottle/demo_diverse/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad33b98481c34d217b3266bf12a72db7df841f6e
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/adjust_bottle/demo_diverse/instructions/episode96.json b/adjust_bottle/demo_diverse/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..7980532bb1b05ae6a020f4486919c0d7c1818a64
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode0.json b/beat_block_hammer/demo_diverse/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..40070fc76c2eb35591452ce4d8988a7e11bd706c
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode1.json b/beat_block_hammer/demo_diverse/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..91b7eed39003a9df92b919d4ec957161bea85263
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode10.json b/beat_block_hammer/demo_diverse/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1e5306ac64cbc92af66533f81ba136573dd5e5e
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode11.json b/beat_block_hammer/demo_diverse/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..52dd3066b783b47fab7d690a8ba7df78ab11d291
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode12.json b/beat_block_hammer/demo_diverse/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..85a290994cdab524e931fc3ccdfd296be6ed22dd
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode13.json b/beat_block_hammer/demo_diverse/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..c63556c45c9070cb04095b946a268d5939dda0be
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode14.json b/beat_block_hammer/demo_diverse/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc08ae02edf70955c90e052847afef392e1992e
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode15.json b/beat_block_hammer/demo_diverse/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf82bd452a07d0d198bcd9b8c96d4e8d2d64f170
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode16.json b/beat_block_hammer/demo_diverse/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ef252d5f9d28c662ae3f161a3428486cb35daa0
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode17.json b/beat_block_hammer/demo_diverse/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f45816f776b491ffe4787c223073dec20668bad
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode18.json b/beat_block_hammer/demo_diverse/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..8308689615400a920d004a3405779cdd85fb6c15
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode19.json b/beat_block_hammer/demo_diverse/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4726cdb61ea1aa8e8bcc57e75e6158aae7163c7
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode2.json b/beat_block_hammer/demo_diverse/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfc40b52c4c66d1f7fe96edf936bb16c3c98b2ba
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode21.json b/beat_block_hammer/demo_diverse/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..246dcd9fd5d2c85e420ab721a1c5db9fbc941faf
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode22.json b/beat_block_hammer/demo_diverse/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..4afc0c1a611dfb22a7621398a530efba9738f36a
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode23.json b/beat_block_hammer/demo_diverse/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..c10e256841f346cd7f3ecbcaad61db9d16e36205
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode24.json b/beat_block_hammer/demo_diverse/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..867dce46bff291d40883e6afff146ecb405c9072
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode26.json b/beat_block_hammer/demo_diverse/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a861a2aab93f8cc65da1fcc6e3b68426cc4f1b9
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode27.json b/beat_block_hammer/demo_diverse/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9ab32953b42e91dad065d3c0bac77b74c626218
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode28.json b/beat_block_hammer/demo_diverse/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eb5f3dc1a533a6a58fd7f74a08fd0b1bf5c86ba
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Lift the silver hammer and hit the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Lift the hammer for nails and hit the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Take the nail-driving hammer and strike the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Pick the hammer for nails and strike the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Take the silver hammer and hammer the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Hold the silver hammer and pound the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Take the silver hammer and strike the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Take the hammer with claw-shaped end and hammer the block"
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat 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",
+    "Use the left arm to grab the hammer with claw and smooth head, 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.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw 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",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike 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.",
+    "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.",
+    "Grab the hammer with black handle 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 hammer with claw and smooth head to strike 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",
+    "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.",
+    "Pick the hammer with black handle up 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",
+    "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 silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat 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",
+    "Use the left 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",
+    "Use the left 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.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat 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",
+    "Use the left arm to grab the hammer with black handle, 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.",
+    "Grab the silver hammer head and claw and hit 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 silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat 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",
+    "Use the left arm to grab the hammer with black handle, 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.",
+    "Grab the hammer with black handle 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 silver hammer head and claw to strike 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",
+    "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.",
+    "Pick the hammer with claw and smooth head up 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",
+    "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 silver hammer head and claw to strike 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",
+    "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.",
+    "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.",
+    "Grab the silver hammer head and claw 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 hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat 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",
+    "Use the left arm to grab the hammer with black handle, 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.",
+    "Grab the hammer with black handle and hit 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 hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike 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.",
+    "Pick the silver hammer head and claw up 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 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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode29.json b/beat_block_hammer/demo_diverse/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b849cfaa9c5e41b5266d93ea42afe1de94992e6
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Hold the nail-driving hammer then hit the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Grab the medium-sized metal hammer using the right arm, then beat 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 beat the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Take the hammer for nails and strike the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Grab the silver hammer to beat the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Catch the silver hammer and use it on the block.",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Take the nail-driving hammer and strike the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Pick the silver hammer from the table and strike",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw 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",
+    "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",
+    "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 beat 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 black handle 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",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit 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 claw and smooth head and beat 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 strike 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 silver hammer head and claw then beat 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, 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.",
+    "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 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",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle, 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.",
+    "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 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",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat 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 beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "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",
+    "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",
+    "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 hammer with claw and smooth head and beat 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 strike 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 silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit 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 claw and smooth head and beat 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 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",
+    "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",
+    "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 hammer with claw and smooth head and beat 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 silver hammer head and claw and strike the block",
+    "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 hammer with black handle then beat 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, 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.",
+    "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 black handle and strike the block",
+    "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 hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, 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.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with black handle."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode3.json b/beat_block_hammer/demo_diverse/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..470732996cc37f9523aef77708d5d61edd9a3cae
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver curved hammer head, then strike the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Hold the silver hammer then hit the block",
+    "Take the silver hammer and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Take the silver hammer and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Pick up the silver hammer and strike the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Take the hammer for nails and beat the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Lift the nail-driving hammer and hit the block",
+    "Use the left arm to take the hammer for nails and strike",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Hold the hammer for nails and pound the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Lift the hammer for nails and hit the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick up the silver hammer and use it on the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Pick the handheld medium claw hammer and strike the block."
+  ],
+  "unseen": [
+    "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 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 left arm to grab the silver hammer head and claw then beat 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.",
+    "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.",
+    "Use the silver hammer head and claw to strike 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",
+    "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 hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "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.",
+    "Use the silver hammer head and claw to strike 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",
+    "Use the left arm to grab the silver hammer head and claw then beat 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.",
+    "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.",
+    "Use the hammer with black handle to strike 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 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 claw and smooth head 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.",
+    "Pick the hammer with black handle up 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 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 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 silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "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.",
+    "Use the hammer with claw and smooth head to strike 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 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 silver hammer head and claw and 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.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike 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 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 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.",
+    "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.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle 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",
+    "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 hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up 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 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 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 hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up 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 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 black handle 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 strike 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.",
+    "Pick the hammer with black handle up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode30.json b/beat_block_hammer/demo_diverse/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa2bfbd9e9f31e35ec8b336c54a86a967e5f5897
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the black and yellow hammer grip then hit the block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Take the black and yellow hammer grip and beat the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick the silver hammer and strike the block.",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Take the silver hammer and strike the block",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Use the left arm to take the hammer for nails and strike",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick the silver hammer and strike the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Grab the silver hammer using the left arm then pound block"
+  ],
+  "unseen": [
+    "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.",
+    "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 grab the hammer with claw and smooth head, 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 then beat 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",
+    "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.",
+    "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 grab the hammer with black handle, 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 then beat block",
+    "Use the silver hammer head and claw to strike 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 strike 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 hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, 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 then beat block",
+    "Use the hammer with black handle to strike 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 strike 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 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 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 hammer with black handle to strike 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 strike 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 hit the block",
+    "Use the left arm to grab the hammer with black handle, 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 then beat block",
+    "Use the silver hammer head and claw to strike 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 hammer with black handle and strike 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 hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, 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 then beat block",
+    "Use the silver hammer head and claw to strike 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 hammer with claw and smooth head and strike 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 hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, 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 then beat block",
+    "Use the silver hammer head and claw to strike 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 claw and smooth head and strike 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",
+    "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 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 hammer with black handle to strike 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 strike 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",
+    "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 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 hammer with claw and smooth head to strike 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 silver hammer head and claw and strike 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",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, 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 then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode33.json b/beat_block_hammer/demo_diverse/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a449a9e31a6c6186d1e5ac4e94e2d770f8fd43a
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Take the hammer for nails and strike the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Grab the hammer for nails to beat the block.",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Take the silver curved hammer head and strike the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Pick the grippy handle hammer and smash the block",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Use the silver hammer to hammer the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Lift the nail-driving hammer, then beat the block."
+  ],
+  "unseen": [
+    "Use the right 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 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 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 silver hammer head and claw 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",
+    "Use the right 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 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 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 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, 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 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 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.",
+    "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, beat 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 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 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 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",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike 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 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 silver hammer head and claw 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",
+    "Use the right arm to grab the hammer with black handle, 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",
+    "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 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 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 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 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 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 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 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 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.",
+    "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 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",
+    "Use the right 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 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 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 beat 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, 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 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 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 beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode35.json b/beat_block_hammer/demo_diverse/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..712d06cab6c3ed815dddb9b3feeb8fda36afb19a
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the silver hammer using the right arm, hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grab the silver hammer, then hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Hold the grippy handle hammer then hit the block",
+    "Pick up the plastic handle metal hammer and strike the block"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "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 black handle and hit 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 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 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.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "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 black handle and hit the block",
+    "Use the right 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 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 right arm to grab the hammer with claw and smooth head, 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",
+    "Pick the silver hammer head and claw up 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",
+    "Grab the silver hammer head and claw and 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 silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, 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",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat 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 claw and smooth head and beat 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.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to 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 right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and 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 silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to 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 right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and 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 beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, 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",
+    "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 right 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 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 beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to 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 right 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 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 right arm to grab the hammer with claw and smooth head, 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",
+    "Pick the silver hammer head and claw up 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",
+    "Grab the silver hammer head and claw 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 beat 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.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to 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 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 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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode36.json b/beat_block_hammer/demo_diverse/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e1170e87974fea29c8d7655bb6ff6438a0d6868
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Take the silver hammer and beat the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Take the grippy handle hammer and strike the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Take the grippy handle hammer and strike the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Take the nail-driving hammer and smash the block.",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Hold the silver hammer and pound the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Take the nail-driving hammer and smash the block.",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right 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 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 beat 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 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 hit the block.",
+    "Use the right 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 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 hit the block",
+    "Grab the silver hammer head and claw and beat 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 then beat 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 right 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 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 silver hammer head and claw and beat 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 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 hit the block.",
+    "Use the right 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 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 black handle and beat 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 then beat 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 right 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 hammer with black handle 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 black handle and beat 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 then beat 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 right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the 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 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 strike 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.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right 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 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 hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike 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 silver hammer head and claw and hit the block.",
+    "Use the right 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 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",
+    "Grab the hammer with claw and smooth head and strike 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 hit the block.",
+    "Use the right 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 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 silver hammer head and claw and beat 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 then beat 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.",
+    "Use the right 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 hammer with black handle 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 silver hammer head and claw and beat 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 then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode38.json b/beat_block_hammer/demo_diverse/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..32df368fae08c9c9d72b0e0d0d7afd77de64c309
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Lift the silver hammer and hit the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Pick the silver curved hammer head and smash the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Grab the grippy handle hammer, then strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick up the silver hammer using the left arm then beat",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Lift the silver curved hammer head and hit the block",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Pick the nail-driving hammer from the table and strike",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Hold the hammer with claw-shaped end and pound the block."
+  ],
+  "unseen": [
+    "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 then beat 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.",
+    "Grab the hammer with black handle and hit 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 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 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 then beat block",
+    "Pick the silver hammer head and claw up 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 hit 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 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 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 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 pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit 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.",
+    "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 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 then beat 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.",
+    "Grab the hammer with black handle and hit 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 left arm to grab the hammer with black handle, 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 hammer with black handle to strike 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 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 strike the block",
+    "Grab the hammer with black handle and beat 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",
+    "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 then beat 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.",
+    "Grab the silver hammer head and claw and hit 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 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 hit 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",
+    "Pick the hammer with black handle up 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.",
+    "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 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 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 then beat 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.",
+    "Grab the hammer with claw and smooth head and hit 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 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 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 then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left 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 strike 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, 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 silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up 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 hit 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.",
+    "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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode4.json b/beat_block_hammer/demo_diverse/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ec1b731f8f21f2f03bf43bafd8e4799ab5e65f5
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Take the silver hammer and beat the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Take the hammer for nails and strike the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Take the silver hammer and smash the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Take the hammer for nails and hammer the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Take the silver hammer and beat the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Hold the silver hammer then hit the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Pick the hammer for nails and smash the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grip the silver hammer firmly and hit the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Lift the silver hammer and hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Pick the silver hammer and smash the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Pick up the yellow and black hammer grip using the left arm then beat"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the 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 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 black handle and hit 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 pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the 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 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 claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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 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 strike the block",
+    "Use the hammer with claw and smooth head to strike 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 left arm to grab the hammer with claw and smooth head then beat 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",
+    "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 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",
+    "Use the left arm to grab the hammer with claw and smooth head then beat 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",
+    "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 silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike 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 left arm to grab the hammer with claw and smooth head then beat 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",
+    "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 silver hammer head and claw and strike 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 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 pick up the hammer with black handle.",
+    "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 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 claw and smooth head and strike 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 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 pick up the silver hammer head and claw.",
+    "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 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 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 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 pick up the silver hammer head and claw.",
+    "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 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 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 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 pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the 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 hammer with black handle and 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 hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode40.json b/beat_block_hammer/demo_diverse/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..60c738b3f4d329a71ea252aa79da852d209c9daf
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Grab the hammer for nails to beat the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the hammer for nails and smash the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Take the hammer for nails and strike the block",
+    "Use the silver hammer to hammer the block.",
+    "Take the silver hammer and hammer the block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Pick the hammer for nails and smash the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Take the silver hammer and beat the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Take the silver hammer and beat the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Take the silver hammer and strike the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, 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.",
+    "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",
+    "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 strike 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, 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 claw and smooth head.",
+    "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",
+    "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 hammer with claw and smooth head and strike 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, 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.",
+    "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 claw and smooth head to strike 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 silver hammer head and claw and strike 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, 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.",
+    "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",
+    "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 black handle and strike 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, 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.",
+    "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 silver hammer head and claw to strike 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 hammer with claw and smooth head and strike 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, 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.",
+    "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",
+    "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 silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, 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 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",
+    "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 strike 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, 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.",
+    "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 silver hammer head and claw to strike 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 silver hammer head and claw and strike 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, 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.",
+    "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",
+    "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 strike 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, 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 claw and smooth head.",
+    "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 silver hammer head and claw to strike 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 black handle and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode41.json b/beat_block_hammer/demo_diverse/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..413c6dd4522a15db91f743f5c19267bb2bdbd697
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Hold the grippy handle hammer and pound the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Take the hammer for nails and beat the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Pick up the silver hammer and strike the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Use the left arm to take the hammer for nails and strike",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Take the silver hammer and strike the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the hammer for nails to beat the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the grippy handle hammer, then strike the block."
+  ],
+  "unseen": [
+    "Pick the hammer with black handle up 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",
+    "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 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",
+    "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.",
+    "Pick the hammer with black handle up 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",
+    "Use the left 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 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",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up 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",
+    "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.",
+    "Grab the hammer with black handle 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",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit 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 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 black handle and strike 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 hit the block.",
+    "Use the left 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 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",
+    "Use the left arm to grab the hammer with black handle, beat 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 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 black handle.",
+    "Pick the hammer with black handle up 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",
+    "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.",
+    "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",
+    "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.",
+    "Pick the silver hammer head and claw up 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",
+    "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 silver hammer head and claw 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",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit 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 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 hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike 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.",
+    "Pick the hammer with claw and smooth head up 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",
+    "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 claw and smooth head and strike 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 hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up 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",
+    "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 strike 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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode42.json b/beat_block_hammer/demo_diverse/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..3876299eea3056072709e7d2740e99bbdc293a60
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Use the left arm to take the silver hammer and strike",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Pick the hammer for nails from the table and strike",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Hold the silver hammer then hit the block",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Take the grippy handle hammer and beat the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Take the grippy handle hammer and strike the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the silver hammer using the left arm then pound block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Make the left arm grab the silver hammer and strike the block."
+  ],
+  "unseen": [
+    "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.",
+    "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 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 claw and smooth head then beat 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",
+    "Use the silver hammer head and claw 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.",
+    "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 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 silver hammer head and claw then beat 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",
+    "Use the hammer with black handle to strike 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 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 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",
+    "Use the left 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",
+    "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 beat the 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 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 pick up the silver hammer head and claw.",
+    "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",
+    "Grab the hammer with black handle and hit 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 grab the silver hammer head and claw, 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 pick up the hammer with black handle.",
+    "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",
+    "Grab the hammer with claw and smooth head and hit 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 grab the silver hammer head and claw, 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 pick up the hammer with claw and smooth head.",
+    "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 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.",
+    "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 beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat 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",
+    "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.",
+    "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 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 left arm to grab the silver hammer head and claw then beat block",
+    "Use the left 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",
+    "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 silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle 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 beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left 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",
+    "Grab the silver hammer head and claw 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 beat the 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 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 pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode43.json b/beat_block_hammer/demo_diverse/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac38c94a2da78c3607f8ad92737585b2ae14e927
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the hammer for nails with the left arm and strike block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Pick the grippy handle hammer from the table and strike",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Lift the hammer for nails and hit the block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Pick up the silver hammer and strike the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Pick the hammer for nails and smash the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Take the plastic handle metal hammer and beat the block"
+  ],
+  "unseen": [
+    "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",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike 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 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 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",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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 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.",
+    "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",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left 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 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 silver hammer head and claw, beat 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",
+    "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 left arm to pick up the hammer with claw and smooth head.",
+    "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 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 claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat 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.",
+    "Use the left 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 claw and smooth head and beat 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, beat the block.",
+    "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",
+    "Pick the silver hammer head and claw up and hit the 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 hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit 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 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 left arm to grab the silver hammer head and claw then beat 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 left arm to pick up the hammer with claw and smooth head.",
+    "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 silver hammer head and claw and hit 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 strike 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",
+    "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 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 silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat 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.",
+    "Use the left 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 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.",
+    "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",
+    "Pick the hammer with black handle up and hit the 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 hammer with black handle to strike 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 black handle and hit 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 strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode44.json b/beat_block_hammer/demo_diverse/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..89a40c8fdf832033d99837b1c94b00752d179769
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the silver curved hammer head and use it on the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Pick the hammer for nails and strike the block.",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Take the silver hammer and hammer the block",
+    "Take the silver hammer and strike the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Take the silver hammer and strike the block",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Lift the silver hammer and hit the block.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Pick the silver hammer and smash the block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Pick the hammer for nails and strike the block.",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Take the grippy handle hammer and strike the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Take the hammer for nails and beat the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the hammer for nails and smash the block.",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Lift the nail-driving hammer and hit the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Grab the grippy handle hammer with the right arm and strike block"
+  ],
+  "unseen": [
+    "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 black handle, 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 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",
+    "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 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, 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 strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "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 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.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, 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 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 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 black handle 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, 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 strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "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 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.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle, 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 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 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 black handle 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, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and 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",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit 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 right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and 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",
+    "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 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 silver hammer head and claw, 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 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",
+    "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 black handle 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, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and 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 black handle 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 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 silver hammer head and claw, 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 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",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode46.json b/beat_block_hammer/demo_diverse/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f08a318ee29f32bca30e2e011c657a9ddad19c6
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Hold the silver hammer then hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Use the silver hammer to hammer the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick the hammer for nails and strike the block.",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Grab the silver hammer to beat the block.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Pick up the silver hammer and use it on the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Take the silver hammer and hammer the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Take the nail-driving hammer and beat the block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Pick the silver hammer and smash the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick up the silver hammer and strike the block",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Take the silver hammer and strike the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Lift the silver hammer and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Pick the silver hammer and smash the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Lift the black and yellow hammer grip, then beat the block."
+  ],
+  "unseen": [
+    "Use the left 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",
+    "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 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 black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left 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",
+    "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 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 hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left 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 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",
+    "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 hammer with claw and smooth head to strike 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.",
+    "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 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",
+    "Use the left 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",
+    "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",
+    "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 hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to 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 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.",
+    "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",
+    "Pick the hammer with black handle up and hit 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 strike the block",
+    "Use the hammer with claw and smooth head to strike 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.",
+    "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 black handle 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 silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit 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 black handle 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 silver hammer head and claw to 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 hit the block.",
+    "Grab the hammer with black handle 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",
+    "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 claw and smooth head to strike 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.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle 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",
+    "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 hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode47.json b/beat_block_hammer/demo_diverse/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ffbcc87623d6e3a35e382596d82098c56798261
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Take the silver hammer and beat the block",
+    "Hold the silver hammer and pound the block.",
+    "Take the silver hammer and beat the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the plastic handle metal hammer using the right arm and strike the 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",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Hold the medium-sized metal hammer then hit the block",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Use the silver curved hammer head to hammer the block.",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Utilize the right arm to hold the silver hammer and strike."
+  ],
+  "unseen": [
+    "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.",
+    "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 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 black handle 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 claw and smooth head and beat the 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.",
+    "Use the silver hammer head and claw to strike 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 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 silver hammer head and claw and beat 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, beat 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 black handle 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",
+    "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 black handle and beat 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, beat 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 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 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 hammer with black handle and beat 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, beat 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 black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "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.",
+    "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 silver hammer head and claw.",
+    "Use the right 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 hammer with claw and smooth head and strike 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 right 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 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 black handle.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw 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 grab the silver hammer head and claw then beat 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 claw and smooth head.",
+    "Use the right 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 hammer with black handle and strike 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 right 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 hammer with black handle and beat 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, beat 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 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",
+    "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.",
+    "Use the right 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 strike 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 right arm to grab the hammer with black handle 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 claw and smooth head and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode48.json b/beat_block_hammer/demo_diverse/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a42b977bc23630e83904467aa1bdc303b1afcdf
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Take the silver hammer and strike the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Take the grippy handle hammer and strike the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Pick the silver hammer and smash the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Pick up the silver hammer and strike the block",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Pick the grippy handle hammer from the table and strike",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Hold the hammer for nails and pound the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Hold the hammer for nails then hit the block",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Take the grippy handle hammer and strike the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Take the grippy handle hammer and hammer the block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Take the silver hammer and beat the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and 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 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 hit the block",
+    "Pick the silver hammer head and claw up 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 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 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 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 hit the block",
+    "Pick the hammer with black handle up 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.",
+    "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 silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and 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 hit 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.",
+    "Grab the hammer with black handle and hit 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",
+    "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 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 hit 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.",
+    "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.",
+    "Grab the hammer with black handle and 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 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 hit 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.",
+    "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.",
+    "Grab the hammer with black handle and 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 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 hit 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.",
+    "Grab the silver hammer head and claw 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 beat the block",
+    "Grab the hammer with black handle 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 left arm to grab the hammer with claw and smooth head then beat 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 left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle 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 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 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 claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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.",
+    "Grab the hammer with black handle and 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",
+    "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 hit the block",
+    "Pick the silver hammer head and claw up 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 hit 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",
+    "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 black handle and 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 hit 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.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode49.json b/beat_block_hammer/demo_diverse/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..63eb7b47eafa8460339274eaeca3e39855738619
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Catch the handheld medium claw hammer 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 to beat the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "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 beat the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit 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",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Hold the hammer for nails and pound the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "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",
+    "Grab the silver curved hammer head to beat the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the hammer for nails, then hit the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Take the nail-driving hammer and strike the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick the silver hammer from the table and strike",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Lift the nail-driving hammer and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hammer with black handle.",
+    "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.",
+    "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 strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat 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.",
+    "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 claw and smooth head and hit the 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",
+    "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 left arm to grab the hammer with black handle, beat 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.",
+    "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 silver hammer head and claw to strike 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",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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 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 hammer with black handle up and hit 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",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head 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.",
+    "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 claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike 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, beat 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.",
+    "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 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 claw and smooth head and strike 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, beat 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.",
+    "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 silver hammer head and claw 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 strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat 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.",
+    "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 claw and smooth head 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",
+    "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 left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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",
+    "Grab the hammer with black handle 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 silver hammer head and claw and strike 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, beat 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.",
+    "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",
+    "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 strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode5.json b/beat_block_hammer/demo_diverse/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ad858ca0ebc52dbc7b45c25fd64ace6c4bc9e65
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Grab the silver hammer with the left arm and hit block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Take the medium-sized metal hammer and beat the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Pick the silver hammer and strike the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the hammer for nails and use it to hit",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Take the silver hammer and beat the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Pick the silver hammer and smash the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the grippy handle hammer and strike the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Grab the silver hammer, then hit the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Beat the block after grabbing the medium-sized metal hammer"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit 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 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 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.",
+    "Pick the hammer with black handle up and hit 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 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 claw and smooth head 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 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.",
+    "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 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 black handle 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 strike 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 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 hammer with claw and smooth head and hit 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 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 strike 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 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 hit 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 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 silver hammer head and claw and strike 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.",
+    "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 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 claw and smooth head then beat 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.",
+    "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 hammer with claw and smooth head 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 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 black handle 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.",
+    "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 left 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",
+    "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",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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 hit the block",
+    "Grab the hammer with claw and smooth head and hit 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 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 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.",
+    "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 black handle and hit 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",
+    "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 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.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode50.json b/beat_block_hammer/demo_diverse/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..cac5ea0e9597a7f48bc59cf5f6ae9c154668b872
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Lift the black and yellow hammer grip and hit the block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Take the silver hammer and smash the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Lift the hammer with two-tone handle and hit the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Hold the hammer for nails and pound the block.",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the silver hammer using the left arm then pound block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Hold the nail-driving hammer then hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the plastic handle metal hammer, then beat the block."
+  ],
+  "unseen": [
+    "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 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 claw and smooth head 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 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",
+    "Grab the hammer with black handle and strike 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 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 black handle up and hit 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",
+    "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 claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head 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 silver hammer head and claw up 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.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike 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 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",
+    "Use the left 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 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 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 black handle up 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.",
+    "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 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 hammer with claw and smooth head 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 hammer with black handle up 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.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike 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 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",
+    "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",
+    "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 claw and smooth head, 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 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",
+    "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 hammer with black handle 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 silver hammer head and claw, 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 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",
+    "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 silver hammer head and claw 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 silver hammer head and claw, 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 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",
+    "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 claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode51.json b/beat_block_hammer/demo_diverse/instructions/episode51.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbf6ced2e0d8b2261e8da759115b516eb512b8e6
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode51.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Pick the silver hammer and strike 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",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the silver hammer and beat the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the silver hammer to beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Take the grippy handle hammer and smash the block.",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Hold the hammer for nails then hit the block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Take the nail-driving hammer and 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 yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Take the silver curved hammer head and beat the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Take the nail-driving hammer and smash the block.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "With the left arm, grab the silver hammer and beat the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left 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",
+    "Pick the hammer with black handle up and hit 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 left arm to grab the silver hammer head and claw, 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 black handle and beat the block",
+    "Use the left 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",
+    "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 strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, 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 silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike 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 silver hammer head and claw and hit 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, beat 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.",
+    "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 silver hammer head and claw to strike 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 silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, 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 silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike 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 hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, 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 silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike 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 hit 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, 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 black handle and beat the block",
+    "Use the left 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",
+    "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 hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, 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 claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike 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 silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, 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 silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike 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 silver hammer head and claw and hit 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, 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 beat the block",
+    "Use the left 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 hammer with claw and smooth head and hit 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 silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, 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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode53.json b/beat_block_hammer/demo_diverse/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..106404eb6f8a4816ee4771f78a1c4b66d5b1c3a7
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the grippy handle hammer, then beat the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Hold the silver hammer then hit the block",
+    "Take the hammer for nails and hammer the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the silver hammer to beat the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Pick up the hammer for nails and strike the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Pick up the hammer for nails and use it on the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Lift the silver hammer and hit the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Take the silver curved hammer head and beat the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Pick up the silver hammer and use it on the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Take the silver hammer and strike the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block."
+  ],
+  "unseen": [
+    "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 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",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left 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 left arm to grab the hammer with black handle then beat 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 silver hammer head and claw and 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 left arm to grab the silver hammer head and claw, beat 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.",
+    "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 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",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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 silver hammer head and claw then beat 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 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",
+    "Use the left arm to grab the silver hammer head and claw, beat 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.",
+    "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 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 claw and smooth head 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",
+    "Use the left arm to grab the hammer with claw and smooth head, beat 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.",
+    "Use the hammer with claw and smooth head 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 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 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 left arm to pick up the hammer with black handle.",
+    "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 silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head 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",
+    "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 left 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 claw and smooth head 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 strike 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 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 left arm to pick up the hammer with claw and smooth head.",
+    "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 then beat 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",
+    "Grab the hammer with black handle and 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 left arm to grab the hammer with black handle, beat the block.",
+    "Use the left 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 left arm to grab the silver hammer head and claw then beat 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 claw and smooth head and beat 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 grab the silver hammer head and claw, beat 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.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode54.json b/beat_block_hammer/demo_diverse/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..e048d4ecfb70f707f1ee800635b3ea4442ddab76
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Use the silver hammer to hammer the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Hold the silver curved hammer head and pound the block.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the silver curved hammer head, then hit the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Take the hammer for nails using the right arm, hit the block."
+  ],
+  "unseen": [
+    "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.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "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 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",
+    "Use the right 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 right 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 right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike 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",
+    "Use the hammer with black handle to strike 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 grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw 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 strike 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",
+    "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",
+    "Pick the hammer with claw and smooth head up and hit 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.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike 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 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 claw and smooth head then beat 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, beat 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 black handle and strike 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 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 hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit 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.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "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 black handle and beat 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",
+    "Pick the hammer with claw and smooth head up and hit 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.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "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 claw and smooth head and beat 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",
+    "Pick the silver hammer head and claw up and hit the 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.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike 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 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",
+    "Pick the silver hammer head and claw up and hit the 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.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike 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 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",
+    "Pick the silver hammer head and claw up and hit 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.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "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 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",
+    "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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode55.json b/beat_block_hammer/demo_diverse/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e2f46c54cc6a092519381761093099368e00f7a
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the silver hammer with the right arm and hit block",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Pick the grippy handle hammer and strike the block.",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Take the nail-driving hammer and beat the block",
+    "Take the nail-driving hammer and strike the block",
+    "Hold the hammer for nails and pound 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",
+    "Take the hammer for nails and beat the block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Catch the hammer for nails and use it on the block.",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Grab the silver hammer with the right arm and strike block",
+    "Use the right arm to take the silver hammer and strike",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Pick the silver curved hammer head and strike the block.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Take the silver hammer and strike the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Lift the hammer for nails and hit the block",
+    "Take the silver hammer and beat the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the grippy handle hammer using the right arm, then beat the block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike 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 hammer with claw and smooth head and hit 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",
+    "Grab the silver hammer head and claw and hit the 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.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "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 hammer with claw and smooth head to 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",
+    "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 beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right 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",
+    "Use the hammer with black handle to 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",
+    "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 beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head 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 hit the block.",
+    "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",
+    "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 black handle, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike 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 black handle 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 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.",
+    "Use the right arm to grab the silver hammer head and claw, 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 strike the block",
+    "Pick the hammer with claw and smooth head 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 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 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.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike 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 hammer with claw and smooth head and hit the block.",
+    "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",
+    "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, 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 strike the block",
+    "Pick the hammer with claw and smooth head up 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 right arm to grab the silver hammer head and claw then beat 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 beat the block.",
+    "Use the right arm to grab the hammer with black handle, 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 strike the block",
+    "Pick the hammer with black handle 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 hit 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",
+    "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 silver hammer head and claw, 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 strike the block",
+    "Pick the hammer with claw and smooth head 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 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 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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode56.json b/beat_block_hammer/demo_diverse/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..77cf7d841236e23559227543c24a3730be6fd7f9
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the silver curved hammer head and hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Use the left arm to take the hammer for nails and strike",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Take the silver hammer and strike the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Lift the hammer for nails and hit the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Take the silver curved hammer head and beat the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Take the black and yellow hammer grip and strike 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 beat the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Lift the silver curved hammer head and hit the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Lift the silver hammer with the left arm then strike block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Take the grippy handle hammer and beat the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block."
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left 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 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 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 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 silver hammer head and claw, 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 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 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",
+    "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",
+    "Use the left 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 black handle and strike 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 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",
+    "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 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 strike 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 claw and smooth head 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 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.",
+    "Pick the hammer with black handle 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",
+    "Grab the silver hammer head and claw 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.",
+    "Grab the hammer with claw and smooth head 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 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 strike 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 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",
+    "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",
+    "Use the left 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 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 silver hammer head and claw 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",
+    "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 black handle, 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 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 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",
+    "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",
+    "Use the left 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 black handle 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 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",
+    "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 silver hammer head and claw, beat 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",
+    "Grab the hammer with claw and smooth head 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.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode57.json b/beat_block_hammer/demo_diverse/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..755285c1b976214a026f9bc9407b068ea0bb6431
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Take the silver hammer and beat the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Take the grippy handle hammer and beat the block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Take the silver curved hammer head and strike the block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the silver hammer, then strike the block.",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Use the silver hammer to hammer the block.",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Lift the hammer for nails, then beat the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Catch the silver hammer and use it on the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Take the grippy handle hammer and strike the block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Hold the silver hammer then hit the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the silver curved hammer head, then strike 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",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Use the silver hammer to hammer the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike."
+  ],
+  "unseen": [
+    "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 black handle and strike the 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 then beat 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 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 pick up the hammer with claw and smooth head.",
+    "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 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",
+    "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 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 pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike 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",
+    "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 grab the silver hammer head and claw, beat 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 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 black handle and strike 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",
+    "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 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 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 strike 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",
+    "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 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 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 strike the 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 then beat 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 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",
+    "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 strike 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",
+    "Pick the silver hammer head and claw up 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, beat 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 right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike 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",
+    "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 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 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 silver hammer head and claw and strike the 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 then beat 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 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 pick up the hammer with claw and smooth head.",
+    "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 right arm to grab the hammer with black handle then beat 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 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 claw and smooth head and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode58.json b/beat_block_hammer/demo_diverse/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ce17fa57e76e025742f632ef400cb038650d4e4
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Pick the nail-driving hammer from the table and strike",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Take the nail-driving hammer and beat the block",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Catch the silver hammer and use it on the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Pick the silver hammer and strike the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Pick the grippy handle hammer from the table and strike",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Take the silver hammer and beat the block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the hammer for nails and use it on the block"
+  ],
+  "unseen": [
+    "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 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.",
+    "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 grab the hammer with black handle, beat 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",
+    "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 pick up the hammer with claw and smooth head.",
+    "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 claw and smooth head up and hit 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.",
+    "Use the right arm to grab the hammer with black handle then beat 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 strike the 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 silver hammer head and claw 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.",
+    "Use the right arm to grab the hammer with black handle, beat 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",
+    "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 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 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.",
+    "Use the right arm to grab the hammer with black handle, beat 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",
+    "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 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.",
+    "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 grab the hammer with claw and smooth head, beat 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",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and 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 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.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat 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",
+    "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 pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and 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.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat 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",
+    "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 pick up the hammer with claw and smooth head.",
+    "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 claw and smooth head up and hit 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.",
+    "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",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and 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 beat the block",
+    "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 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.",
+    "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",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the 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 silver hammer head and claw 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.",
+    "Use the right arm to grab the hammer with black handle, beat 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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode6.json b/beat_block_hammer/demo_diverse/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..0421f464c9558d48fb149dc00b5d3e0794a82a93
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Lift the hammer for nails and hit the block",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Take the grippy handle hammer and hammer the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Use the right arm to grab the silver hammer and beat",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Lift the silver hammer and hit the block.",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Hold the silver hammer and pound the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Grab the hammer for nails and use it to hit",
+    "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",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat 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 hit 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",
+    "Grab the silver hammer head and claw 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",
+    "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 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.",
+    "Grab the hammer with black handle and hit the 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",
+    "Use the silver hammer head and claw to strike 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.",
+    "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.",
+    "Grab the hammer with black handle and hit 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",
+    "Grab the silver hammer head and claw 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",
+    "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 grab the hammer with black handle then beat 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 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",
+    "Use the hammer with black handle to strike 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.",
+    "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.",
+    "Grab the hammer with claw and smooth head and hit 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",
+    "Grab the hammer with black handle 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",
+    "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 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 hit 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",
+    "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 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.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat 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.",
+    "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",
+    "Use the hammer with black handle to strike the block",
+    "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 hammer with black handle and beat 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 hammer with claw and smooth head and hit 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",
+    "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 hit 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 grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit 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",
+    "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 black handle and hit 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 grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the 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",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode60.json b/beat_block_hammer/demo_diverse/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..aac0b48bc02005fdc5bcf8ef6395fb798ddd8975
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the black and yellow hammer grip and hit the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Hold the silver hammer then hit the block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Pick up the hammer for nails and strike the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the silver hammer to beat the block.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Grab the silver hammer with the left arm and strike block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Use the left arm to grab the silver hammer and beat",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Take the hammer for nails and beat the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Hold the silver hammer and pound the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Lift the hammer for nails and hit the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the silver hammer and smash the block.",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Pick up the silver hammer using the left arm then beat",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Pick the silver hammer and smash the block",
+    "Take the silver hammer and strike the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block."
+  ],
+  "unseen": [
+    "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 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",
+    "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 claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike 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 beat the 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 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 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 hit the block.",
+    "Use the hammer with black handle to 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.",
+    "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 beat 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 claw and smooth head and strike 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 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 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 hit 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 strike 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 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 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 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 strike 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 pick up the silver hammer head and claw.",
+    "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 grab the hammer with black handle, 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 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 silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to 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.",
+    "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 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 then beat block",
+    "Grab the hammer with black handle 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",
+    "Use the left 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 black handle up and hit 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",
+    "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 silver hammer head and claw 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",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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 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 left arm to grab the hammer with black handle then beat 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 hammer with claw and smooth head to strike 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.",
+    "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 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 grab the hammer with black handle then beat 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",
+    "Use the left arm to pick up the silver hammer head and claw."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode62.json b/beat_block_hammer/demo_diverse/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..04db57068290d35ec326bd16588cbf4568c86ce9
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the medium-sized metal hammer and smash the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick up 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 black and yellow hammer grip, then strike the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Take the hammer for nails and beat the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Grab the silver hammer, then hit the block",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Pick up the hammer for nails and strike the block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the silver hammer with the right arm and hit block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Take the grippy handle hammer and beat the block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the silver hammer using the right arm then pound block",
+    "Lift the silver curved hammer head and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike."
+  ],
+  "unseen": [
+    "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 black handle and beat 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 silver hammer head and claw and hit 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 hammer with claw and smooth head and strike 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 beat 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 silver hammer head and claw then beat 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, 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",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "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 pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat 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, 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",
+    "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 beat 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 hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the 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",
+    "Grab the silver hammer head and claw and strike 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 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 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 silver hammer head and claw and hit the 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",
+    "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 silver hammer head and claw to strike the block",
+    "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 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 hit the 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",
+    "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 hammer with claw and smooth head to 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",
+    "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 then beat block",
+    "Grab the silver hammer head and claw and hit the 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",
+    "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 silver hammer head and claw to strike 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 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 silver hammer head and claw and hit 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 strike 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 beat 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 hit 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 hammer with black handle and strike 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 black handle and beat 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.",
+    "Use the right arm to grab the hammer with black handle then beat 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, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode63.json b/beat_block_hammer/demo_diverse/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b26435c4109a1c88bf77b3fe294389154dc0690
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Take the silver hammer and beat the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Grab the silver hammer with the right arm and strike block",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Take the handheld medium claw hammer and strike the block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Pick the silver hammer and strike the block.",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Take the silver hammer and strike the block",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Take the medium-sized metal hammer and beat the block",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Grab the hammer for nails to beat the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Take the hammer for nails and smash the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Take the silver curved hammer head and strike the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Hold the silver curved hammer head then hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick up the black and yellow hammer grip and strike the block"
+  ],
+  "unseen": [
+    "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 silver hammer head and claw and beat 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, 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 right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit 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 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",
+    "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",
+    "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",
+    "Grab the hammer with claw and smooth head and beat 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",
+    "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 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 silver hammer head and claw and hit 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 beat 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, 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",
+    "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",
+    "Grab the hammer with claw and smooth head and beat 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",
+    "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 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 black handle and hit 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",
+    "Use the right arm to pick up the hammer with black handle.",
+    "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 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",
+    "Use the right arm to grab the hammer with black handle 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",
+    "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 claw and smooth head and beat 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, beat the block.",
+    "Grab the silver hammer head and claw and hit 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",
+    "Grab the silver hammer head and claw and hit 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",
+    "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",
+    "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",
+    "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",
+    "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 black handle and beat 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, 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",
+    "Use the right arm to grab the hammer with black handle 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",
+    "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 beat the 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 hit 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",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode64.json b/beat_block_hammer/demo_diverse/instructions/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..47cd73dc679053ad293bc317e1d97b3e3d219cff
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode64.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the hammer for nails and hammer the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Grab the silver hammer, then strike the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Grab the silver hammer, then hit the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Take the grippy handle hammer and smash the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Take the nail-driving hammer and hammer the block",
+    "Take the hammer for nails and strike the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Grab the silver hammer, then hit the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Take the grippy handle hammer and smash the block.",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block"
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "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 hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head 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",
+    "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",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and 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 black handle 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.",
+    "Pick the silver hammer head and claw up 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, 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 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 black handle and beat the block.",
+    "Use the silver hammer head and claw to strike 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",
+    "Use the right arm to grab the hammer with claw and smooth head, 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 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.",
+    "Use the hammer with claw and smooth head to strike 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",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and 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.",
+    "Use the silver hammer head and claw to strike 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",
+    "Use the right arm to grab the hammer with claw and smooth head, 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 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 claw and smooth head 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.",
+    "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 grab the silver hammer head and claw, 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 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 black handle 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.",
+    "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 right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "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 hammer with black handle to strike 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 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.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and 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.",
+    "Use the hammer with claw and smooth head to strike 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",
+    "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.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and 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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode65.json b/beat_block_hammer/demo_diverse/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9433acfcf71228bfb9df6e962530cb8a4a76e30
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode65.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Take the silver curved hammer head and beat the block",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Hold the hammer for nails then hit the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the hammer for nails to beat the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Grab the grippy handle hammer, then hit the block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Pick the hammer for nails and strike the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Pick the nail-driving hammer and smash the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Take the nail-driving hammer and beat the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the silver hammer with the right arm and hit block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Take the hammer for nails and beat the block",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Take the silver hammer and hammer the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the hammer for nails to beat the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Use the right arm to grab the silver hammer and beat",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Pick the hammer for nails and smash the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit 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 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 pick up the hammer with claw and smooth head.",
+    "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.",
+    "Pick the hammer with black handle up and hit 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 beat the block",
+    "Grab the silver hammer head and claw 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 pick up the hammer with black handle.",
+    "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.",
+    "Pick the hammer with black handle up and hit 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",
+    "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",
+    "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 right arm to grab the hammer with black handle, beat 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",
+    "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 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 pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the 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 claw and smooth head 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 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",
+    "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 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 hammer with black handle and 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 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 pick up the hammer with black handle.",
+    "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.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and 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 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 pick up the hammer with claw and smooth head.",
+    "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.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and 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 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",
+    "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 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 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 silver hammer head and claw 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 pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the 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 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 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",
+    "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 right arm to grab the hammer with black handle, beat 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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode66.json b/beat_block_hammer/demo_diverse/instructions/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..30b1312248ec9d1b5803c4d39a40de146e7d3234
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode66.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Take the nail-driving hammer and beat the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the hammer for nails and use it to hit",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Take the nail-driving hammer and hammer the block",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Pick up the silver curved hammer head and strike the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the silver hammer and hit the block.",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Take the nail-driving hammer and beat the block",
+    "Use the left arm to take the silver hammer and strike",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Hold the nail-driving hammer then hit the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Take the yellow and black hammer grip and beat the block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Use the silver hammer to hammer the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the silver hammer with the left arm and hit block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Take the silver curved hammer head and hammer the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the left arm to take the hammer for nails and strike",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Grab the silver curved hammer head, then hit the block",
+    "Hold the hammer with claw-shaped end then hit the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the 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 then beat 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",
+    "Grab the silver hammer head and claw and beat 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 pick up the hammer with black handle.",
+    "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 left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle 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 hammer with black handle and beat 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",
+    "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",
+    "Use the left arm to grab the silver hammer head and claw then beat 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 strike 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, beat the block.",
+    "Grab the silver hammer head and claw and beat 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",
+    "Use the left arm to grab the silver hammer head and claw then beat 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",
+    "Grab the hammer with claw and smooth head and beat 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",
+    "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 claw and smooth head up 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 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",
+    "Grab the hammer with claw and smooth head and beat 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 pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the 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 then beat 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 strike 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, beat the 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.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up 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 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 beat 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 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",
+    "Use the left arm to grab the hammer with claw and smooth head then beat 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",
+    "Grab the hammer with claw and smooth head and beat 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",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the 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 then beat 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 strike 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, beat the block.",
+    "Grab the hammer with black handle and beat 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 black handle up 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 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 beat 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 pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode67.json b/beat_block_hammer/demo_diverse/instructions/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c23e1ead6ddfadca2c38bbbe5b36e601f2b23e7
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode67.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Hold the hammer for nails then hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Pick the silver hammer and smash the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Lift the silver hammer and hit the block.",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Use the right arm to grab the silver hammer and beat",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Pick up the hammer for nails and use it on the block",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Hold the silver curved hammer head then hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Pick the silver hammer and smash the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Pick up the silver hammer and use it on the block",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Catch the silver curved hammer head and use it on the block."
+  ],
+  "unseen": [
+    "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 beat 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 black handle and hit the block",
+    "Use the right 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",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike 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",
+    "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 right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat 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",
+    "Grab the hammer with claw and smooth head and strike 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",
+    "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 right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat 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",
+    "Grab the hammer with black handle and strike 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",
+    "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 right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right 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",
+    "Use the right 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 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 black handle and beat the block.",
+    "Grab the hammer with claw and smooth head 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",
+    "Use the right arm to grab the silver hammer head and claw, beat 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",
+    "Grab the silver hammer head and claw and strike 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 claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the 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 then beat block",
+    "Grab the hammer with black handle and strike 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",
+    "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 right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat 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",
+    "Grab the hammer with black handle and strike 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 black handle and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat 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",
+    "Grab the hammer with claw and smooth head and strike 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",
+    "Grab the hammer with claw and smooth head and beat 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 claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat 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",
+    "Grab the silver hammer head and claw and strike 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",
+    "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 right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat 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",
+    "Grab the hammer with black handle and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode68.json b/beat_block_hammer/demo_diverse/instructions/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecb2c8bf07a93e15d79154bca21f7a7ab49535af
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode68.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the grippy handle hammer and strike the block.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Take the hammer with two-tone handle and strike the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Use the right arm to take the hammer for nails and strike",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Take the hammer with two-tone handle and beat the block",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the silver hammer, then strike the block.",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Lift the hammer for nails and hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Pick up the grippy handle hammer and strike the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick the silver hammer from the table and strike",
+    "Take the black and yellow hammer grip and beat the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Grab the hammer for nails to beat the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Pick the hammer for nails and strike the block.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the silver hammer, then strike the block.",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Lift the silver hammer and hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Take the silver hammer and beat the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Grab the silver hammer to beat the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Hold the silver hammer then hit the block",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Take the hammer for nails and hammer the block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block"
+  ],
+  "unseen": [
+    "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 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 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 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 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.",
+    "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 black handle then beat 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 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 strike the 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",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right 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 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 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.",
+    "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 hammer with black handle then beat 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.",
+    "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 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.",
+    "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 hammer with claw and smooth head then beat 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.",
+    "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 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",
+    "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",
+    "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 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.",
+    "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 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 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 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.",
+    "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",
+    "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 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 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 silver hammer head and claw then beat block",
+    "Grab the hammer with black handle 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.",
+    "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 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",
+    "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",
+    "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 silver hammer head and claw to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode69.json b/beat_block_hammer/demo_diverse/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..51ac0369fdf81beb48ca498231a56b9ce8bd7506
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Take the hammer for nails and strike the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Grab the silver hammer, then hit the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Pick the hammer for nails and smash the block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the yellow and black hammer grip using the right arm then pound 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",
+    "Hold the silver curved hammer head then hit the block",
+    "Pick up the silver hammer and strike the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Lift the silver hammer and hit the block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick the hammer for nails and smash the block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Pick up the hammer for nails and use it on the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the silver hammer and use it to hit",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Pick up the silver hammer using the right arm then beat",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the hammer for nails and hammer the block",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Take the nail-driving hammer and smash the block."
+  ],
+  "unseen": [
+    "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 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 right arm to pick up the silver hammer head and claw.",
+    "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 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 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 silver hammer head and claw, 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 right arm to pick up the silver hammer head and claw.",
+    "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 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 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 silver hammer head and claw, 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",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up 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 then beat block",
+    "Grab the silver hammer head and claw and hit 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 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",
+    "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",
+    "Grab the silver hammer head and claw and strike 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 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 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",
+    "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",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat 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 black handle and hit 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",
+    "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",
+    "Grab the silver hammer head and claw and strike 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 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, 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 right arm to pick up the hammer with claw and smooth head.",
+    "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 right arm to grab the silver hammer head and claw then beat 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 hit 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",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up 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 then beat 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 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 black handle to strike the block",
+    "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",
+    "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 then beat 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 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",
+    "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.",
+    "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 right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode7.json b/beat_block_hammer/demo_diverse/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2190d57f9a79a746163bb5352bd7bd84c965ea8
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Pick the hammer for nails and strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Pick the hammer for nails and smash the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Lift the silver hammer with the left arm then strike block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Pick the nail-driving hammer from the table and strike",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick the silver hammer and smash the block",
+    "Take the nail-driving hammer and beat the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Take the nail-driving hammer and strike the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left 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 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 hit the block.",
+    "Grab the silver hammer head and claw and beat 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",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat 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.",
+    "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 hit the block.",
+    "Grab the hammer with black handle and beat 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",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left 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 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 hit the 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.",
+    "Grab the hammer with black handle and hit 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, 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 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 hit the 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.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left 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 silver hammer head and claw and beat 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 then beat block",
+    "Grab the silver hammer head and claw and hit the 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.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left 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 beat 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 then beat 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 left 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 strike the block",
+    "Use the left 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 beat 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 then beat 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 left 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 strike the block",
+    "Use the left 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 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 hammer with black handle then beat 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 left 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 black handle and strike the block",
+    "Use the left 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 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 hit the block.",
+    "Grab the silver hammer head and claw and beat 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",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left 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 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 black handle and hit the 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.",
+    "Grab the silver hammer head and claw and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode70.json b/beat_block_hammer/demo_diverse/instructions/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..20823670f818c1ed3009eab49fb1bb5bacf67152
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode70.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Use the right arm to grab the silver hammer and beat",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Take the silver hammer and smash the block.",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Grab the grippy handle hammer to beat the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick the hammer for nails and smash the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Pick the silver hammer from the table and strike",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Take the silver hammer and beat the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "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.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Grab the grippy handle hammer to beat the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Catch the silver hammer and use it on the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Grab the silver hammer, then hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Lift the hammer for nails and hit the block",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Take the grippy handle hammer and strike the block"
+  ],
+  "unseen": [
+    "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",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and 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 strike 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 hit 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",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and 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 strike 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 claw and smooth head and hit 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",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and 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 hammer with claw and smooth head and strike the 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 then beat 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, 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 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 hammer with black handle and strike the 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 then beat block",
+    "Grab the hammer with claw and smooth head and hit 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",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and 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 strike 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 hit 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",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and 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 black handle and strike the 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 then beat 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, 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 silver hammer head and claw and 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 hammer with black handle and strike 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 hit 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",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and 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 strike 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 black handle and hit 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",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and 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",
+    "Grab the hammer with black handle and strike 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 hit 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",
+    "Use the hammer with black handle to strike 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",
+    "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 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 hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode71.json b/beat_block_hammer/demo_diverse/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..49ca8ee92f249de25a852d22684bf79e2f75cd4e
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Grab the silver hammer and use it to hit",
+    "Take the black and yellow hammer grip and hammer the block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Take the nail-driving hammer and beat the block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Pick up the hammer for nails and strike the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Grab the hammer for nails and use it to hit",
+    "Take the black and yellow hammer grip and hammer the block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Take the grippy handle hammer and beat the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the grippy handle hammer, then strike the block.",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the silver hammer with the right arm and hit block",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Use the right arm to take the silver hammer and strike",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Take the silver hammer and beat the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and strike 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",
+    "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.",
+    "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 hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike 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",
+    "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 beat 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 black handle, beat the block.",
+    "Grab the hammer with black handle and strike 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",
+    "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.",
+    "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 black handle and beat the block",
+    "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",
+    "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 then beat 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.",
+    "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 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",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "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",
+    "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 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 silver hammer head and claw and strike the 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 then beat 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 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 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",
+    "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",
+    "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.",
+    "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 silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the 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 then beat 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.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the 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 strike the 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 then beat 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.",
+    "Grab the hammer with black handle 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",
+    "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",
+    "Pick the silver hammer head and claw up and hit 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",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode72.json b/beat_block_hammer/demo_diverse/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6d10ad89eb386fc2a4f330cd649d22a2fdca1a8
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode72.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Lift the silver hammer, then beat the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Hold the hammer for nails then hit the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Pick the hammer for nails and strike the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Pick up the silver hammer and use it on the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the silver hammer and use it to hit",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Take the hammer for nails and hammer the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Take the grippy handle hammer and smash the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Hold the grippy handle hammer and pound the block.",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Lift the hammer for nails, then beat the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Take the silver hammer and strike the block",
+    "Take the silver hammer and beat the block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Lift the silver hammer and hit the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and strike block"
+  ],
+  "unseen": [
+    "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 pick up the hammer with black handle.",
+    "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 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 hammer with claw and smooth head 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",
+    "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 black handle and 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.",
+    "Pick the hammer with black handle 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.",
+    "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 silver hammer head and claw 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 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.",
+    "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 beat 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 hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "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 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 black handle and beat 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 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 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.",
+    "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.",
+    "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 pick up the hammer with claw and smooth head.",
+    "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 grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit 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 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 pick up the hammer with black handle.",
+    "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 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.",
+    "Grab the hammer with black handle and beat 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 silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "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 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 hit 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 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 pick up the hammer with black handle.",
+    "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 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 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 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 pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and 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.",
+    "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.",
+    "Grab the silver hammer head and claw and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode73.json b/beat_block_hammer/demo_diverse/instructions/episode73.json
new file mode 100644
index 0000000000000000000000000000000000000000..e62e9188c06d931119a4dc00187c5409ad7d5df7
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode73.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Take the nail-driving hammer and hammer the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Lift the hammer for nails and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Hold the hammer for nails and pound the block.",
+    "Use the left arm to take the hammer for nails and strike",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Take the hammer for nails and strike the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Take the silver hammer and beat the block",
+    "Grab the silver hammer and use it to hit",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Grab the silver hammer with the left arm and strike block",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Take the hammer for nails and strike the block",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Take the medium-sized metal hammer 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 using the left arm then pound block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Take the grippy handle hammer and hammer the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Hold the silver hammer then hit the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the hammer for nails and use it to hit",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Use the left arm to grab the yellow and black hammer grip and beat"
+  ],
+  "unseen": [
+    "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 hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "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",
+    "Use the left arm to grab the hammer with claw and smooth head, beat 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 beat the block.",
+    "Pick the hammer with claw and smooth head up 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.",
+    "Grab the hammer with black handle and hit 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",
+    "Use the left arm to grab the hammer with black handle, beat 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 claw and smooth head and beat 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 silver hammer head and claw 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 strike 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.",
+    "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 beat 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 black handle and hit 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 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.",
+    "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 beat 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 hit the block.",
+    "Grab the hammer with black handle and hit 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",
+    "Use the left arm to grab the hammer with claw and smooth head, beat 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 silver hammer head and claw and beat 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 hit 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 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.",
+    "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 hammer with claw and smooth head and beat 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 hit the block.",
+    "Grab the hammer with black handle and hit 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",
+    "Use the left arm to grab the hammer with claw and smooth head, beat 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 beat 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 hammer with claw and smooth head 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 strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat 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 hammer with black handle and beat the block.",
+    "Pick the hammer with black handle 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 hit 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 left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat 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 beat 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 black handle and hit 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 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.",
+    "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 silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode74.json b/beat_block_hammer/demo_diverse/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ddfb58d0ca8e1647cd7352e071fc0bd94873a02
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Take the hammer for nails and smash the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Take the silver curved hammer head and strike the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Pick up the silver hammer and strike the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Use the hammer for nails to hammer the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Hold the nail-driving hammer then hit the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Take the nail-driving hammer and beat the block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Take the handheld medium claw hammer and beat the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Take the hammer for nails and strike the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the hammer for nails and hammer the block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Lift the silver hammer and hit the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Take the silver hammer and beat the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Use the left arm to take the grippy handle hammer and strike"
+  ],
+  "unseen": [
+    "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",
+    "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.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head 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 silver hammer head and claw to strike the block",
+    "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",
+    "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.",
+    "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",
+    "Grab the hammer with black handle 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",
+    "Grab the hammer with black handle 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",
+    "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.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle 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 left arm to grab the hammer with black handle 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",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head 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 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 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",
+    "Use the left arm to grab the silver hammer head and claw, beat 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",
+    "Grab the silver hammer head and claw and hit the block.",
+    "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 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",
+    "Use the left arm to grab the hammer with black handle, beat 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",
+    "Grab the silver hammer head and claw 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",
+    "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 black handle and beat the 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.",
+    "Use the left 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 black handle 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",
+    "Grab the silver hammer head and claw 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",
+    "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.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit 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 silver hammer head and claw 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 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 grab the hammer with black handle, beat 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",
+    "Grab the silver hammer head and claw 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",
+    "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 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 grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit 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 silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode76.json b/beat_block_hammer/demo_diverse/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef1608c95a168fea6d49dfc1e37a394d0f6908d9
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Take the nail-driving hammer and beat the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Take the silver hammer and smash the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Pick the hammer for nails and smash the block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Grab the silver hammer and use it to hit",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Take the silver hammer and beat the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Hold the silver hammer then hit the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Lift the hammer for nails and hit the block",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Take the silver hammer and beat the block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Take the hammer for nails and strike the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Grab the handheld medium claw hammer using the left arm then pound block"
+  ],
+  "unseen": [
+    "Use the hammer with black handle to strike 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",
+    "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 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.",
+    "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 beat the block",
+    "Grab the hammer with black handle and 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 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.",
+    "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 beat 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, 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 black handle 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.",
+    "Pick the hammer with black handle 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 beat the block",
+    "Grab the hammer with black handle and 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.",
+    "Use the left arm to grab the silver hammer head and claw then beat 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 left arm to pick up the hammer with black handle.",
+    "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 beat the block",
+    "Grab the silver hammer head and claw and 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.",
+    "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 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.",
+    "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 beat 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, 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 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.",
+    "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 beat 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, 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 black handle 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.",
+    "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 beat 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, 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 silver hammer head and claw 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.",
+    "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 beat 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, 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 hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up 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",
+    "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, 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 hammer with claw and smooth head 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.",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode77.json b/beat_block_hammer/demo_diverse/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..a44105ea922c7807c8a2d6da0b9c38220c49e421
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Take the hammer for nails and strike the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Hold the hammer for nails and pound the block.",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Grab the hammer for nails to beat the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Use the right arm to grab the silver hammer and beat",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Take the silver hammer and hammer the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Hold the silver hammer and pound the block.",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Grab the silver hammer to beat the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Take the silver hammer and beat the block",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the nail-driving hammer to hammer the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Use the right arm to take the hammer for nails and strike",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the silver curved hammer head, then hit the block"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike 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.",
+    "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 silver hammer head and claw to strike 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.",
+    "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 strike the block",
+    "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 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 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 hit the 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 then beat block",
+    "Grab the silver hammer head and claw and strike 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 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 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 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 hammer with claw and smooth head and strike 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.",
+    "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 silver hammer head and claw 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 strike 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",
+    "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 beat the block",
+    "Use the hammer with black handle to strike 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.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike 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 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 silver hammer head and claw 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",
+    "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 strike the block",
+    "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 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 beat the block",
+    "Use the hammer with black handle to strike 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.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike 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 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 black handle 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",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike 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",
+    "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 beat 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 right arm to pick up the silver hammer head and claw.",
+    "Use the right 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 silver hammer head and claw 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.",
+    "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 hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode79.json b/beat_block_hammer/demo_diverse/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..6352e818432705138d47adc858ac9c7a89a25f24
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver hammer with the right arm and hit the block",
+    "Pick the silver hammer and strike the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Pick up the silver hammer and strike the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the silver hammer using the right arm then pound block",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Take the nail-driving hammer and strike the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Grab the silver hammer to beat the block.",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Take the hammer for nails and smash the block.",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Take the silver hammer and strike the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Take the hammer for nails and strike the block",
+    "Take the silver hammer and beat the block",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Pick up the grippy handle hammer with the right arm, strike the 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 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",
+    "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",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike 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 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",
+    "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",
+    "Pick the hammer with claw and smooth head up and hit 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 black handle and beat the block.",
+    "Grab the silver hammer head and claw 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 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 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",
+    "Grab the silver hammer head and claw and 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 right arm to pick up the hammer with black handle.",
+    "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 claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit 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.",
+    "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 pick up the hammer with black handle.",
+    "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 silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit 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 black handle and beat 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.",
+    "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 silver hammer head and claw, beat 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 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 right arm to pick up the silver hammer head and claw.",
+    "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 hammer with black handle, 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 claw and smooth head and 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 claw and smooth head 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",
+    "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",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and 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 black handle 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",
+    "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 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 claw and smooth head and 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 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",
+    "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",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode8.json b/beat_block_hammer/demo_diverse/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..377b7e86886524e6c177045b1a9081bff75d8a5e
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grab the silver hammer with the left arm and hit block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Take the silver hammer and beat the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Pick up the silver hammer and strike the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Take the silver hammer and strike the block",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Lift the silver hammer and hit the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Grab the hammer for nails with the left arm and hit block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grip the silver hammer firmly and hit the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the silver hammer with the left arm and strike block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Lift the nail-driving hammer with the left arm then strike block"
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike 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 beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat 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.",
+    "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 left 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 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.",
+    "Use the left arm to grab the silver hammer head and claw then beat 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.",
+    "Grab the hammer with claw and smooth head and strike 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 claw and smooth head.",
+    "Use the hammer with claw and smooth head to 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 hammer with claw and smooth head 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 hit 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 strike 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 hammer with claw and smooth head to 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 beat 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 hit 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 strike 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 hammer with claw and smooth head to 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",
+    "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 silver hammer head and claw 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",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to 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 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 hit the block.",
+    "Use the left 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 left 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 hammer with claw and smooth head and 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.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit 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 strike 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 hammer with claw and smooth head to 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 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 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.",
+    "Grab the hammer with claw and smooth head and strike 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 silver hammer head and claw to 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",
+    "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 silver hammer head and claw 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",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to 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 beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat 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.",
+    "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 left arm to pick up the silver hammer head and claw."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode81.json b/beat_block_hammer/demo_diverse/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b61664e7267cda5f9a322951cc9f673f1754029
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Grab the silver hammer, then hit the block",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Take the plastic handle metal hammer and strike the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Take the nail-driving hammer and hammer the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Pick the silver hammer from the table and strike",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Pick up the hammer for nails and use it on the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the silver hammer and use it to hit",
+    "Use the right arm to grab the silver hammer and beat",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Grab the silver curved hammer head, then hit the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Use the hammer for nails to hammer the block.",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the hammer for nails, then strike the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and 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 hammer with claw and smooth head and 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",
+    "Pick the hammer with claw and smooth head up 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, beat 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 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.",
+    "Grab the hammer with claw and smooth head and 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",
+    "Pick the hammer with black handle up 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, beat 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 beat 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 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",
+    "Pick the silver hammer head and claw up 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, 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",
+    "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 claw and smooth head and 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",
+    "Pick the silver hammer head and claw up 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, beat 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 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 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",
+    "Pick the silver hammer head and claw up 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 claw and smooth head, 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",
+    "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 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",
+    "Pick the silver hammer head and claw up 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, 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",
+    "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 strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "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",
+    "Use the right arm to grab the silver hammer head and claw, 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",
+    "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 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",
+    "Pick the hammer with claw and smooth head up 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, beat the block.",
+    "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",
+    "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 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",
+    "Pick the silver hammer head and claw up 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, 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",
+    "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",
+    "Use the right arm to pick up the hammer with black handle.",
+    "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 hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode82.json b/beat_block_hammer/demo_diverse/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..8991918e92e50ce68bb09fd5813584cc0b9cb4d1
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Take the silver hammer and hammer the block",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Take the hammer with two-tone handle and strike the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Take the hammer for nails and beat the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Hold the silver hammer and pound the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Hold the hammer for nails then hit the block",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Pick up the nail-driving hammer and strike the block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Beat the block after grabbing the hammer for nails",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Pick the hammer for nails and strike the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Pick up the silver hammer using the left arm then beat",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Use the left arm to grab the silver hammer and beat",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Take the hammer with two-tone handle using the left arm, hit the block."
+  ],
+  "unseen": [
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle 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.",
+    "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",
+    "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 left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "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.",
+    "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",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "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 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 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 grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "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 beat 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",
+    "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 left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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 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 hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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.",
+    "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",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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 beat 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",
+    "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 left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "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 silver hammer head and claw and 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 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 grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "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 beat 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 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, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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 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",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode83.json b/beat_block_hammer/demo_diverse/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..914c4c92f0b27933c561de07ca809c285aed4824
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Grab the silver hammer with the right arm and hit block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Hold the silver hammer then hit the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Take the handheld medium claw hammer and smash the block.",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Pick the hammer for nails and smash the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Lift the hammer with two-tone handle and hit the 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",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Use the right arm to take the hammer for nails and strike",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Pick the silver hammer from the table and strike",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Take the hammer for nails and beat the block",
+    "Grab the silver hammer and use it to hit",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Pick the silver hammer and smash the block",
+    "Take the hammer for nails and hammer the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Make the right arm grab the silver curved hammer head and strike the block."
+  ],
+  "unseen": [
+    "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 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 claw and smooth head and hit 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 hit the block.",
+    "Use the hammer with claw and smooth head to strike 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",
+    "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 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 hammer with black handle then beat 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 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",
+    "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 silver hammer head and claw and hit 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 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 pick up the hammer with claw and smooth head.",
+    "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 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 hit the block",
+    "Use the right arm to grab the hammer with black handle then beat 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 pick up the hammer with claw and smooth head.",
+    "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 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 claw and smooth head 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.",
+    "Use the hammer with claw and smooth head to 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.",
+    "Pick the hammer with black handle up 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",
+    "Grab the silver hammer head and claw 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 pick up the hammer with black handle.",
+    "Pick the hammer with black handle up 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 silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle 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 pick up the hammer with claw and smooth head.",
+    "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 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 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.",
+    "Use the hammer with claw and smooth head to 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.",
+    "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 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 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.",
+    "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 pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up 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",
+    "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",
+    "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 beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode84.json b/beat_block_hammer/demo_diverse/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..258bcc66e5fc90717edbfcfd0719a069eb33451f
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode84.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hammer for nails and hit the block.",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Pick the hammer for nails and strike the block.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Take the yellow and black hammer grip and strike the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the silver hammer, then hit the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Catch the silver hammer and use it on the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Pick the hammer for nails and strike the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Take the nail-driving hammer and beat the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the silver hammer with the left arm and hit block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Take the medium-sized metal hammer and strike the block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Grab the hammer for nails and use it to hit",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Lift the hammer for nails using the left arm to hit the block."
+  ],
+  "unseen": [
+    "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.",
+    "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 then beat 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 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.",
+    "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 hammer with black handle, 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 black handle then beat 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 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 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, 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 then beat 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",
+    "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.",
+    "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 hammer with black handle, 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 then beat block",
+    "Grab the hammer with claw and smooth head 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",
+    "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 beat 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.",
+    "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 then beat 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 strike 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 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, 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 then beat block",
+    "Grab the hammer with claw and smooth head 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",
+    "Grab the hammer with claw and smooth head and beat 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 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.",
+    "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 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",
+    "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 beat 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.",
+    "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",
+    "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 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 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, 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 then beat 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 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 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, 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 then beat 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 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 beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode85.json b/beat_block_hammer/demo_diverse/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e0e8c137554ed8e73f349b13ec1582a2fb505f
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the medium-sized metal hammer and strike the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "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 beat the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Hold the silver hammer then hit the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Take the silver hammer and beat the block",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Beat the block after grabbing the silver hammer",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Lift the nail-driving hammer 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 and use it to hit",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Use the right arm to take the silver hammer and strike",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Lift the silver hammer with the right arm then strike block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Take the silver hammer and strike the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Pick the silver hammer from the table and strike",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Hold the hammer for nails then hit the block",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Take the grippy handle hammer and beat the block",
+    "Take the grippy handle hammer and smash the block.",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Lift the hammer for nails and hit the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block"
+  ],
+  "unseen": [
+    "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 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 claw and smooth head and hit 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.",
+    "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 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 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",
+    "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 claw and smooth head and 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 silver hammer head and claw and 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 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 hit the block.",
+    "Grab the silver hammer head and claw and 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 hammer with black handle and 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 claw and smooth head and hit 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 silver hammer head and claw 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 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 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 hit 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.",
+    "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 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 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 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 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 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 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 hit 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.",
+    "Grab the silver hammer head and claw 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 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 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",
+    "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 beat the block.",
+    "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 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 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 hit the block.",
+    "Grab the hammer with black handle and 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 hammer with claw and smooth head and 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",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode86.json b/beat_block_hammer/demo_diverse/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..e304301c230d2d51bad42f708c5cf6a390ae445f
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Use the silver curved hammer head to hammer the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Grab the silver hammer to beat the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Catch the silver hammer and use it on the block.",
+    "Take the hammer for nails and hammer the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Take the hammer with two-tone handle and beat 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",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Lift the silver hammer, then beat the block.",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Take the medium-sized metal hammer and smash the block."
+  ],
+  "unseen": [
+    "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 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.",
+    "Pick the silver hammer head and claw up 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 strike 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.",
+    "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 pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit 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 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 silver hammer head and claw 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 beat the block",
+    "Use the silver hammer head and claw to strike 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.",
+    "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 left arm to grab the silver hammer head and claw then beat 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 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 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 beat the 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 then beat 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 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",
+    "Use the left 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 black handle and beat the block.",
+    "Pick the silver hammer head and claw up 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 strike 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.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike 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.",
+    "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 grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike 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.",
+    "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 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.",
+    "Pick the silver hammer head and claw up 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 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, 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 pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit 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 grab the hammer with claw and smooth head then beat 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 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",
+    "Use the left 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 beat the 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 then beat 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 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 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.",
+    "Pick the hammer with black handle up 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 strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode87.json b/beat_block_hammer/demo_diverse/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c9a68503f2d4e2afdc8ec72b47e5fae0d485197
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode87.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Hold the silver curved hammer head then hit the block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Lift the silver hammer and hit the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the silver hammer with the right arm and hit block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Lift the silver hammer and hit the block",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Take the hammer for nails and beat the block",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Grab the silver hammer, then hit the block",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Pick up the silver hammer and use it on the block",
+    "Lift the black and yellow hammer grip and hit the block."
+  ],
+  "unseen": [
+    "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 right arm to pick up the hammer with claw and smooth head.",
+    "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 hit 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",
+    "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 grab the silver hammer head and claw, beat 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.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit 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",
+    "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 grab the hammer with claw and smooth head, beat 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.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit 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",
+    "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 grab the hammer with black handle, beat 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.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit 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",
+    "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 grab the hammer with claw and smooth head, beat 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.",
+    "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 hit 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",
+    "Grab the silver hammer head and claw and strike 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, beat 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.",
+    "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 black handle and hit 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",
+    "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 grab the silver hammer head and claw, beat 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.",
+    "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 black handle and hit 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",
+    "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 grab the hammer with claw and smooth head, beat 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.",
+    "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 hit 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",
+    "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 grab the silver hammer head and claw, beat 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.",
+    "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 hit 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",
+    "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 grab the silver hammer head and claw, beat 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.",
+    "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 black handle and hit 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",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode88.json b/beat_block_hammer/demo_diverse/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..874ecd3dda40f9c244de6730726865bb8895ece3
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the silver hammer and strike the block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Make the left arm grab the hammer with two-tone handle and strike 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 block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick the hammer for nails and strike the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Take the hammer for nails and smash the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Hold the grippy handle hammer then hit the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Lift the hammer for nails and hit the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Grab the hammer for nails, then hit the block",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Take the hammer for nails and beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Lift the hammer for nails and hit the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the handheld medium claw hammer with the left arm and strike block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike 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 hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat 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 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 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 claw and smooth head and hit the 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 then beat 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 beat the block.",
+    "Grab the hammer with black handle 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 claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left 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 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 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 hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat 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 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 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 black handle and hit the 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 then beat 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 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 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 silver hammer head and claw and hit the 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 then beat 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 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 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 hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat 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 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 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 hit the 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 then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "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",
+    "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 silver hammer head and claw, 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 left arm to grab the hammer with black handle then beat block",
+    "Use the left 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 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 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 hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left 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 beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode89.json b/beat_block_hammer/demo_diverse/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4929b9432ca0939426e96bba3b476e34609c9eb
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the hammer for nails from the table and strike",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Take the nail-driving hammer and beat the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Grab the hammer for nails to beat the block.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Lift the hammer for nails and hit the block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Hold the hammer for nails then hit the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Take the nail-driving hammer and beat the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Grab the hammer for nails to beat the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Pick the hammer for nails and smash the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Use the right arm to grab the silver hammer and beat",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Take the plastic handle metal hammer and strike the block"
+  ],
+  "unseen": [
+    "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 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",
+    "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",
+    "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 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 hammer with claw and smooth head and beat 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 strike the block",
+    "Grab the hammer with black handle and hit 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 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 black handle and beat 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",
+    "Grab the silver hammer head and claw and strike 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 silver hammer head and claw 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.",
+    "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",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike 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 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 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",
+    "Pick the hammer with claw and smooth head up and hit 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 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 claw and smooth head 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 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",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and 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 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 beat 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 hammer with black handle and 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 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 black handle and beat 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 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 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 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",
+    "Pick the hammer with black handle up and hit 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 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 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 hammer with black handle and beat the 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",
+    "Grab the silver hammer head and claw and strike 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 claw and smooth head and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode9.json b/beat_block_hammer/demo_diverse/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..12f9665c51409ddeec845e5940f7c8ab5fe7c5c0
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Take the plastic handle metal hammer and strike the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Hold the hammer for nails and pound the block.",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick the silver curved hammer head from the table and strike",
+    "Take the silver curved hammer head and hammer the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the silver hammer, then hit the block",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Lift the silver hammer with the right arm then strike block",
+    "Grab the silver hammer with the right arm and hit block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Take the plastic handle metal hammer and strike the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Hold the hammer for nails and pound the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Take the silver hammer and beat the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Pick up the silver hammer and strike the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block."
+  ],
+  "unseen": [
+    "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 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 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",
+    "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 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 silver hammer head and claw.",
+    "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 claw and smooth head 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",
+    "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 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 silver hammer head and claw.",
+    "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 beat the block.",
+    "Grab the hammer with black handle and hit 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 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 claw and smooth head and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "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 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",
+    "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 black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "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 beat the block.",
+    "Grab the hammer with black handle and hit 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 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 claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "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 claw and smooth head 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",
+    "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 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.",
+    "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 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 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 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 silver hammer head and claw.",
+    "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 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",
+    "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 silver hammer head and claw and beat 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",
+    "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",
+    "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 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.",
+    "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 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 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 claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode90.json b/beat_block_hammer/demo_diverse/instructions/episode90.json
new file mode 100644
index 0000000000000000000000000000000000000000..72335a3689a29134ebeaf89fba7701b13191fdd6
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode90.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Grab the silver hammer and use it to hit",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick the hammer for nails and strike the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Pick the grippy handle hammer and smash the block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Take the nail-driving hammer and strike the block",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Pick up the silver hammer using the left arm then beat",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the silver hammer with the left arm and hit block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Lift the silver hammer and hit the block.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick the silver hammer from the table and strike",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Hold the nail-driving hammer then hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Pick up the hammer for nails and strike 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.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick up the silver hammer and use it on the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Take the hammer for nails and strike the block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Take the black and yellow hammer grip and hammer the block"
+  ],
+  "unseen": [
+    "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 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 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 claw and smooth head and beat 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 strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head 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 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.",
+    "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 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 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 black handle 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.",
+    "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 strike 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 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 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 grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike 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 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 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 then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle, 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 left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit 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 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 grab the silver hammer head and claw, beat 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 pick up the silver hammer head and claw.",
+    "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 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.",
+    "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 strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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 beat the block",
+    "Grab the hammer with claw and smooth head 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.",
+    "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 strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "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 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.",
+    "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 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 hit 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 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 grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode91.json b/beat_block_hammer/demo_diverse/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..89fdf85463291189970b93dabf53783af226f314
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the silver hammer firmly and hit the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Take the silver hammer and strike the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Grab the silver hammer, then strike the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Grab the silver hammer and use it to hit",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Lift the hammer for nails and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Hold the silver hammer and pound the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Grab the hammer for nails to beat the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Take the silver hammer and strike the block",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Pick up the silver hammer using the right arm then beat",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Lift the hammer for nails and hit the block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Hold the silver hammer and pound the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Pick the silver hammer and smash the block"
+  ],
+  "unseen": [
+    "Use the hammer with black handle to strike 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",
+    "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 beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "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.",
+    "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 grab the hammer with claw and smooth head then beat 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, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "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.",
+    "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 grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the 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.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "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.",
+    "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 grab the hammer with claw and smooth head then beat 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, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike 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",
+    "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 beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, 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 strike the block",
+    "Use the silver hammer head and claw to strike 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",
+    "Use the right arm to grab the silver hammer head and claw then beat 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, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle 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.",
+    "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 grab the hammer with black handle then beat 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 black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle 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.",
+    "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 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 beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, 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 strike the block",
+    "Use the hammer with black handle to strike 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",
+    "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 beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, 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 strike the block",
+    "Use the hammer with black handle to strike 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",
+    "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 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.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode92.json b/beat_block_hammer/demo_diverse/instructions/episode92.json
new file mode 100644
index 0000000000000000000000000000000000000000..60e3148b28ea544ca69a370954f80911269281ba
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode92.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver hammer with the right arm and hit block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the nail-driving hammer and beat the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Grip the hammer for nails firmly 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",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Use the right arm to grab the silver hammer and beat",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Lift the hammer for nails and hit the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Take the silver hammer and beat the block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Hold the hammer for nails then hit the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block"
+  ],
+  "unseen": [
+    "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, beat 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",
+    "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 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 hit 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, beat the block.",
+    "Use the silver hammer head and claw to strike 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.",
+    "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 hit 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 silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike 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 hit the block.",
+    "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 hit 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, beat the block.",
+    "Use the silver hammer head and claw to strike 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 beat 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",
+    "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, beat the block.",
+    "Use the hammer with claw and smooth head to strike 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 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 claw and smooth head and hit 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, beat the block.",
+    "Use the hammer with black handle to strike 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.",
+    "Grab the silver hammer head and claw 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 hit 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, beat the block.",
+    "Use the hammer with claw and smooth head to strike 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 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 claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike 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 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 hammer with black handle and hit 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, beat the block.",
+    "Use the hammer with claw and smooth head to strike 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.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat 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.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike 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 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 hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode93.json b/beat_block_hammer/demo_diverse/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..91782c7f33c9a72e25aad52f716ec33351f4dc14
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the silver hammer, then hit the block",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick the silver hammer and strike the block.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Take the grippy handle hammer and beat the block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Pick up the hammer with claw-shaped end 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 hammer with claw-shaped end and beat block",
+    "Take the grippy handle hammer and hammer the block",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Pick up the silver hammer using the right arm then beat",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Use the hammer for nails to hammer the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Pick the hammer for nails and strike the block.",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Take the silver curved hammer head and hammer the block",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Lift the hammer for nails and hit the block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Take the grippy handle hammer and strike the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Take the grippy handle hammer and strike the block",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the silver hammer and beat the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block."
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike 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.",
+    "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 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.",
+    "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 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.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit 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.",
+    "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",
+    "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.",
+    "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 black handle and hit 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.",
+    "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 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.",
+    "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 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.",
+    "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",
+    "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.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw 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.",
+    "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",
+    "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.",
+    "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 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 silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "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.",
+    "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 black handle and hit 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.",
+    "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",
+    "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.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw 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 pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw 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",
+    "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.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit 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 hammer with claw and smooth head.",
+    "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",
+    "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.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw 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 pick up the hammer with black handle.",
+    "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"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode94.json b/beat_block_hammer/demo_diverse/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea295ade2951b51fbb89ca988a4887bf31bd2d00
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Take the grippy handle hammer and beat the block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Lift the silver hammer and hit the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Take the nail-driving hammer and beat the block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Pick the silver curved hammer head and smash the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the silver hammer, then hit the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block"
+  ],
+  "unseen": [
+    "Pick the hammer with black handle up and hit 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 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",
+    "Use the left 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 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",
+    "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 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.",
+    "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 claw and smooth head to strike 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 left arm to grab the silver hammer head and claw then beat 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 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 hit the 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",
+    "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",
+    "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 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 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 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 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",
+    "Use the left 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 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",
+    "Use the left arm to grab the silver hammer head and claw then beat 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.",
+    "Grab the silver hammer head and claw 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",
+    "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 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 hammer with claw and smooth head, 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 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",
+    "Use the left arm to grab the hammer with claw and smooth head then beat 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 silver hammer head and claw 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",
+    "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 silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat 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 claw and smooth head 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",
+    "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 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 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 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 hit the block.",
+    "Use the silver hammer head and claw to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode95.json b/beat_block_hammer/demo_diverse/instructions/episode95.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0953f5bebed59cc914541eb86d8898867a27643
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode95.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the silver hammer and strike the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Pick the silver hammer from the table and strike",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Grab the nail-driving hammer to beat the block.",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Lift the silver curved hammer head and hit the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Lift the hammer for nails and hit the block.",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Take the grippy handle hammer and strike the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Use the right arm to grab the grippy handle hammer and beat block"
+  ],
+  "unseen": [
+    "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, 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",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike 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.",
+    "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 black handle and hit the 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 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 strike 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.",
+    "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 hit 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",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "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.",
+    "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 hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up 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 hammer with black handle and strike 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.",
+    "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.",
+    "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 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 black handle and strike 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.",
+    "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 hit 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",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "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.",
+    "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.",
+    "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",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike 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 beat the block.",
+    "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 hit 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 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 strike the block",
+    "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.",
+    "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.",
+    "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",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike 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.",
+    "Grab the hammer with black handle 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.",
+    "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",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike 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.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode96.json b/beat_block_hammer/demo_diverse/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..feee0e680c8c8eeff28af7109b0faee76dedf7b8
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer for nails, then hit the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "With the right arm, grab the hammer with two-tone handle and 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 hammer for nails and hammer the block",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick the hammer for nails and strike the block.",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Hold the hammer for nails then hit the block",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Take the nail-driving hammer and strike the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick the silver hammer and smash the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Grab the silver hammer with the right arm and hit block",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Lift the silver hammer and hit the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Pick up the black and yellow hammer grip and strike the block"
+  ],
+  "unseen": [
+    "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 black handle, 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",
+    "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.",
+    "Grab the hammer with black handle 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 strike the block",
+    "Use the hammer with claw and smooth head to strike the 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 hit 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.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike 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 silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit 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 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 strike the block",
+    "Use the hammer with claw and smooth head to strike the 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 hit 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 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 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 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 claw and smooth head and hit 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 right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle 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 strike 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 black handle, 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",
+    "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 right arm to grab the hammer with black handle then beat 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 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 silver hammer head and claw and hit 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.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle 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 silver hammer head and claw and hit 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 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 right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike 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 silver hammer head and claw and hit 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",
+    "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 right arm to grab the silver hammer head and claw then beat 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 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 silver hammer head and claw and hit 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.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode98.json b/beat_block_hammer/demo_diverse/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..f51723c7ffdae008f893907cf165bf0e10824dda
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the silver curved hammer head and hit the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Grab the hammer for nails, then hit the block",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Pick the hammer for nails and smash the block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Hold the silver hammer and pound the block.",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Take the silver hammer and hammer the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Take the silver curved hammer head and strike the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Hold the nail-driving hammer then hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Lift the silver hammer and hit the block",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Take the handheld medium claw 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 and use it to hit",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Pick the silver hammer and strike the block.",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Hold the hammer for nails then hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Lift the grippy handle hammer with the right arm then strike block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike 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",
+    "Use the silver hammer head and claw to 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.",
+    "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",
+    "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",
+    "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 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 black handle and hit 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 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",
+    "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",
+    "Use the hammer with black handle to 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.",
+    "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",
+    "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",
+    "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 claw and smooth head and hit the 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",
+    "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 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",
+    "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 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",
+    "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 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",
+    "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 silver hammer head and claw 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",
+    "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 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 strike 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",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw 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 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",
+    "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",
+    "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 hit the block.",
+    "Grab the silver hammer head and claw and beat 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 strike 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",
+    "Use the hammer with black handle to 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.",
+    "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",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike 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",
+    "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 hit 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 then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/beat_block_hammer/demo_diverse/instructions/episode99.json b/beat_block_hammer/demo_diverse/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe0bc8389e0f2f76fb0ff57a2034e15e548149b3
--- /dev/null
+++ b/beat_block_hammer/demo_diverse/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Pick the hammer for nails and smash the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Take the silver hammer and strike the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Pick the silver hammer from the table and strike",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Grab the silver hammer and use it to hit",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Take the hammer for nails and beat the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Take the hammer for nails and smash the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Take the silver hammer and strike the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Hold the silver curved hammer head then hit the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the hammer for nails to beat the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Pick up the silver hammer using the left arm then beat",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Make the left arm grab the hammer for nails and strike the block."
+  ],
+  "unseen": [
+    "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 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",
+    "Grab the hammer with claw and smooth head 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.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "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 grab the silver hammer head and claw, 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 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 hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "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 grab the hammer with claw and smooth head, 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 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 hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "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 grab the silver hammer head and claw, 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 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.",
+    "Use the hammer with black handle to strike the 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.",
+    "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 left 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 hammer with black handle 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.",
+    "Use the hammer with black handle to strike the 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.",
+    "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 left arm to grab the hammer with black handle, 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 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 hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and 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 hit 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.",
+    "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 left arm to pick up the hammer with claw and smooth head.",
+    "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 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 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.",
+    "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 left arm to pick up the hammer with black handle.",
+    "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 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 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.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "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 left arm to grab the silver hammer head and claw, 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 left 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 silver hammer head and claw to strike the 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."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode1.json b/click_alarmclock/demo_diverse/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f2d4f2a202316e6dfc91ba7d00a7e6d191b45fd
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to activate the clock with black hands's button",
+    "Direct the left arm to click the button found on the square alarm clock.",
+    "Push the top button on the small clock with rounded edges",
+    "Use the left arm to press the palm-sized dark blue clock's top button",
+    "Use the left arm to press the blue clock with green stripe's top center button.",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Touch the blue clock with green stripe's center top button with the left arm",
+    "Press the center top button of the small clock with rounded edges",
+    "Click the button centered on the square alarm clock's top.",
+    "Click the small plastic alarm clock's top center button using the left arm.",
+    "Click the middle button on the alarm clock with green stripe's top side",
+    "Press the small plastic alarm clock's top button using the left arm",
+    "Tap the dark blue clock's top button with the left arm",
+    "Touch the dark blue clock's button on the top side.",
+    "Use the left arm to tap the small plastic alarm clock's central button.",
+    "Tap the center button on the dark blue clock.",
+    "Push the button on the rounded square-shaped alarm clock's top center.",
+    "Press the center top button on the alarm clock with green stripe with the left arm",
+    "Activate the dark blue clock by clicking its top button",
+    "Use the left arm to click the top center button on the blue clock with green stripe.",
+    "Push the center area of the dark blue clock's top",
+    "Activate the small clock with rounded edges by pressing its top",
+    "Use the left arm to tap the white-faced alarm clock's top center button.",
+    "Push the top button of the square alarm clock using the left arm",
+    "Hit the center of the square alarm clock's top button",
+    "the left arm presses the center top button on the palm-sized dark blue clock",
+    "Press the button on the square alarm clock's top side",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Click the center button on the square alarm clock's top side.",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Guide the left arm to press the centered button on the clock with black hands.",
+    "Use the left arm to click the center button on the alarm clock with green stripe",
+    "Activate the clock with white dial by pressing the top button",
+    "Locate and press the top button on the square plastic alarm clock",
+    "Locate and press the dark blue clock's top center button",
+    "Use the left arm to press the alarm clock with green stripe button",
+    "Use the left arm to tap the palm-sized dark blue clock's top button center",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Ensure the left arm clicks the top center button of the palm-sized dark blue clock",
+    "the left arm clicks the center top button on the rounded square-shaped alarm clock",
+    "Push the central button on the clock with white dial's top side.",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Use the left arm to press the center top of the square alarm clock",
+    "Click the center of the square alarm clock's top",
+    "Use the left arm to click the top of the square plastic alarm clock",
+    "Use the left arm to press the central button on the blue clock with green stripe.",
+    "Point the left arm to press the button of the palm-sized dark blue clock.",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Click the top center button of the palm-sized dark blue clock",
+    "the left arm activates the clock with black hands by clicking the top button",
+    "Use the left arm to activate the alarm clock with green stripe's button",
+    "Direct the left arm to click the button found on the square alarm clock.",
+    "Push the top button on the dark blue clock",
+    "Use the left arm to press the palm-sized dark blue clock's top button",
+    "Use the left arm to press the small clock with rounded edges's top center button.",
+    "Press the top middle button of the clock with black hands",
+    "Touch the blue clock with green stripe's center top button with the left arm",
+    "Press the center top button of the palm-sized dark blue clock",
+    "Click the button centered on the small plastic alarm clock's top.",
+    "Click the alarm clock with green stripe's top center button using the left arm.",
+    "Click the middle button on the dark blue clock's top side",
+    "Press the dark blue clock's top button using the left arm",
+    "Tap the clock with black hands's top button with the left arm",
+    "Touch the dark blue clock's button on the top side.",
+    "Use the left arm to tap the dark blue clock's central button.",
+    "Tap the center button on the square alarm clock.",
+    "Push the button on the clock with white dial's top center.",
+    "Press the center top button on the small clock with rounded edges with the left arm",
+    "Activate the clock with black hands by clicking its top button",
+    "Use the left arm to click the top center button on the square plastic alarm clock.",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Activate the blue clock with green stripe by pressing its top",
+    "Use the left arm to tap the alarm clock with green stripe's top center button.",
+    "Push the top button of the white-faced alarm clock using the left arm",
+    "Hit the center of the clock with white dial's top button",
+    "the left arm presses the center top button on the square plastic alarm clock",
+    "Press the button on the clock with white dial's top side",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "Click the button centered on the small clock with rounded edges.",
+    "Guide the left arm to press the centered button on the square alarm clock.",
+    "Use the left arm to click the center button on the dark blue clock",
+    "Activate the small plastic alarm clock by pressing the top button",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Use the left arm to press the square alarm clock button",
+    "Use the left arm to tap the dark blue clock's top button center",
+    "Press the top button in the dark blue clock's center.",
+    "Ensure the left arm clicks the top center button of the square plastic alarm clock",
+    "the left arm clicks the center top button on the small clock with rounded edges",
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Use the left arm to press the center top of the dark blue clock",
+    "Click the center of the rounded square-shaped alarm clock's top",
+    "Use the left arm to click the top of the square plastic alarm clock",
+    "Use the left arm to press the central button on the dark blue clock.",
+    "Point the left arm to press the button of the square plastic alarm clock.",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Click the top center button of the square plastic alarm clock",
+    "the left arm activates the rounded square-shaped alarm clock by clicking the top button"
+  ],
+  "unseen": [
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode10.json b/click_alarmclock/demo_diverse/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7458c79534c26355facf3489bd723669e1e3ac6
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Touch the rounded square-shaped alarm clock's center top button with the left arm",
+    "Activate the square plastic alarm clock by clicking its top button",
+    "Tap the center button on the clock with white dial.",
+    "Click the center of the white-faced alarm clock's top",
+    "Click the middle button on the dark blue clock's top side",
+    "Use the left arm to press the center top of the white-faced alarm clock",
+    "Click the top center button of the square alarm clock",
+    "Point the left arm to press the button of the small clock with rounded edges.",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Direct the left arm to click the button found on the small plastic alarm clock.",
+    "Activate the square alarm clock by pressing its top",
+    "Push the button on the dark blue clock's top center.",
+    "Guide the left arm to press the centered button on the white-faced alarm clock.",
+    "Tap the dark blue clock's top button with the left arm",
+    "Tap the button at the clock with black hands's top center.",
+    "Use the left arm to click the top of the small clock with rounded edges",
+    "Use the left arm to activate the small plastic alarm clock's button",
+    "Click the button centered on the square alarm clock's top.",
+    "Press the top middle button of the square alarm clock",
+    "Press the button on the clock with black hands's top side",
+    "the left arm presses the center top button on the rounded square-shaped alarm clock",
+    "Use the left arm to press the clock with white dial's top center button.",
+    "Use the left arm to press the central button on the rounded square-shaped alarm clock.",
+    "Press the center top button of the blue clock with green stripe",
+    "the left arm activates the white-faced alarm clock by clicking the top button",
+    "Use the left arm to tap the palm-sized dark blue clock's central button.",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Press the center button on the palm-sized dark blue clock's top.",
+    "Press the palm-sized dark blue clock's top button using the left arm",
+    "Click the button centered on the square alarm clock.",
+    "Use the left arm to tap the blue clock with green stripe's top button center",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "Touch the palm-sized dark blue clock's button on the top side.",
+    "Push the top button on the rounded square-shaped alarm clock",
+    "Use the left arm to press the alarm clock with green stripe button",
+    "Press the top button in the clock with black hands's center.",
+    "Use the left arm to tap the small clock with rounded edges's top center button.",
+    "Press the center top button on the palm-sized dark blue clock with the left arm",
+    "Activate the dark blue clock by pressing the top button",
+    "Locate and press the clock with white dial's top center button",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Ensure the left arm clicks the top center button of the clock with white dial",
+    "Use the left arm to click the center button on the white-faced alarm clock",
+    "Use the left arm to click the top center button on the white-faced alarm clock.",
+    "Click the small plastic alarm clock's top center button using the left arm.",
+    "Click the center button on the rounded square-shaped alarm clock's top side.",
+    "Press the top button at the rounded square-shaped alarm clock's center.",
+    "Use the left arm to press the blue clock with green stripe's top button",
+    "Push the top button of the clock with white dial using the left arm",
+    "the left arm clicks the center top button on the palm-sized dark blue clock",
+    "Touch the rounded square-shaped alarm clock's center top button with the left arm",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Tap the center button on the dark blue clock.",
+    "Click the center of the alarm clock with green stripe's top",
+    "Click the middle button on the blue clock with green stripe's top side",
+    "Use the left arm to press the center top of the palm-sized dark blue clock",
+    "Click the top center button of the alarm clock with green stripe",
+    "Point the left arm to press the button of the clock with black hands.",
+    "Push the central button on the rounded square-shaped alarm clock's top side.",
+    "Direct the left arm to click the button found on the clock with black hands.",
+    "Activate the alarm clock with green stripe by pressing its top",
+    "Push the button on the dark blue clock's top center.",
+    "Guide the left arm to press the centered button on the square alarm clock.",
+    "Tap the blue clock with green stripe's top button with the left arm",
+    "Tap the button at the blue clock with green stripe's top center.",
+    "Use the left arm to click the top of the square alarm clock",
+    "Use the left arm to activate the small plastic alarm clock's button",
+    "Click the button centered on the white-faced alarm clock's top.",
+    "Press the top middle button of the white-faced alarm clock",
+    "Press the button on the rounded square-shaped alarm clock's top side",
+    "the left arm presses the center top button on the small clock with rounded edges",
+    "Use the left arm to press the white-faced alarm clock's top center button.",
+    "Use the left arm to press the central button on the dark blue clock.",
+    "Press the center top button of the clock with white dial",
+    "the left arm activates the blue clock with green stripe by clicking the top button",
+    "Use the left arm to tap the clock with black hands's central button.",
+    "Locate and press the top button on the white-faced alarm clock",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Press the rounded square-shaped alarm clock's top button using the left arm",
+    "Click the button centered on the white-faced alarm clock.",
+    "Use the left arm to tap the small plastic alarm clock's top button center",
+    "Push the center area of the small plastic alarm clock's top",
+    "Touch the clock with black hands's button on the top side.",
+    "Push the top button on the dark blue clock",
+    "Use the left arm to press the small plastic alarm clock button",
+    "Press the top button in the small clock with rounded edges's center.",
+    "Use the left arm to tap the small plastic alarm clock's top center button.",
+    "Press the center top button on the white-faced alarm clock with the left arm",
+    "Activate the rounded square-shaped alarm clock by pressing the top button",
+    "Locate and press the square alarm clock's top center button",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Ensure the left arm clicks the top center button of the alarm clock with green stripe",
+    "Use the left arm to click the center button on the palm-sized dark blue clock",
+    "Use the left arm to click the top center button on the palm-sized dark blue clock.",
+    "Click the clock with white dial's top center button using the left arm.",
+    "Click the center button on the clock with white dial's top side.",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "Use the left arm to press the clock with white dial's top button",
+    "Push the top button of the blue clock with green stripe using the left arm",
+    "the left arm clicks the center top button on the small plastic alarm clock"
+  ],
+  "unseen": [
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode11.json b/click_alarmclock/demo_diverse/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..3847ed08c186bc1e45d4916ccc33563dfee5abaf
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to tap the small alarm-clock's central button.",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Locate and press the alarm-clock with buttons on side's top center button",
+    "Touch the alarm-clock with digital display's center top button with the left arm",
+    "Tap the center button on the digital screen alarm-clock.",
+    "Use the left arm to activate the small alarm-clock's button",
+    "Locate and press the top button on the small alarm-clock",
+    "the left arm activates the smooth black alarm-clock by clicking the top button",
+    "Use the left arm to press the digital screen alarm-clock's top button",
+    "Use the left arm to press the smooth black alarm-clock button",
+    "Click the black matte alarm-clock's top center button using the left arm.",
+    "Press the top middle button of the black matte alarm-clock",
+    "Press the top button at the palm-sized alarm-clock's center.",
+    "the left arm presses the center top button on the black matte alarm-clock",
+    "Push the center area of the rectangular alarm-clock's top",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Push the top button on the compact alarm-clock",
+    "Ensure the left arm clicks the top center button of the alarm-clock with digital display",
+    "Tap the button at the black alarm-clock's top center.",
+    "Touch the smooth black alarm-clock's button on the top side.",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Press the center top button on the rectangular alarm-clock with the left arm",
+    "Press the center top button of the small alarm-clock",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Point the left arm to press the button of the lightweight plastic alarm-clock.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Use the left arm to tap the black alarm-clock's top button center",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Press the smooth black alarm-clock's top button using the left arm",
+    "Press the button on the lightweight plastic alarm-clock's top side",
+    "Hit the center of the alarm-clock with rounded edges's top button",
+    "Tap the palm-sized alarm-clock's top button with the left arm",
+    "Use the left arm to press the center top of the black matte alarm-clock",
+    "Use the left arm to press the lightweight plastic alarm-clock's top center button.",
+    "Press the center button on the alarm-clock with buttons on side's top.",
+    "the left arm clicks the center top button on the black matte alarm-clock",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "Use the left arm to click the top center button on the alarm-clock with buttons on side.",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges.",
+    "Guide the left arm to press the centered button on the rectangular alarm-clock.",
+    "Click the top center button of the small alarm-clock",
+    "Click the center of the smooth black alarm-clock's top",
+    "Push the button on the compact alarm-clock's top center.",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Direct the left arm to click the button found on the black alarm-clock.",
+    "Press the top button in the alarm-clock with digital display's center.",
+    "Push the top button of the smooth black alarm-clock using the left arm",
+    "Use the left arm to click the center button on the digital screen alarm-clock",
+    "Use the left arm to tap the rectangular alarm-clock's central button.",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Locate and press the alarm-clock with digital display's top center button",
+    "Touch the lightweight plastic alarm-clock's center top button with the left arm",
+    "Tap the center button on the alarm-clock with buttons on side.",
+    "Use the left arm to activate the lightweight plastic alarm-clock's button",
+    "Locate and press the top button on the compact alarm-clock",
+    "the left arm activates the alarm-clock with digital display by clicking the top button",
+    "Use the left arm to press the palm-sized alarm-clock's top button",
+    "Use the left arm to press the lightweight plastic alarm-clock button",
+    "Click the digital screen alarm-clock's top center button using the left arm.",
+    "Press the top middle button of the small alarm-clock",
+    "Press the top button at the small alarm-clock's center.",
+    "the left arm presses the center top button on the alarm-clock with digital display",
+    "Push the center area of the lightweight plastic alarm-clock's top",
+    "Click the button centered on the alarm-clock with buttons on side.",
+    "Activate the digital screen alarm-clock by pressing the top button",
+    "Push the top button on the alarm-clock with buttons on side",
+    "Ensure the left arm clicks the top center button of the compact alarm-clock",
+    "Tap the button at the alarm-clock with buttons on side's top center.",
+    "Touch the alarm-clock with rounded edges's button on the top side.",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Press the center top button on the lightweight plastic alarm-clock with the left arm",
+    "Press the center top button of the digital screen alarm-clock",
+    "Click the middle button on the alarm-clock with buttons on side's top side",
+    "Point the left arm to press the button of the alarm-clock with digital display.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Use the left arm to tap the digital screen alarm-clock's top button center",
+    "Click the center button on the small alarm-clock's top side.",
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Press the alarm-clock with rounded edges's top button using the left arm",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Hit the center of the rectangular alarm-clock's top button",
+    "Tap the compact alarm-clock's top button with the left arm",
+    "Use the left arm to press the center top of the lightweight plastic alarm-clock",
+    "Use the left arm to press the rectangular alarm-clock's top center button.",
+    "Press the center button on the black alarm-clock's top.",
+    "the left arm clicks the center top button on the black matte alarm-clock",
+    "Use the left arm to click the top of the alarm-clock with rounded edges",
+    "Use the left arm to click the top center button on the alarm-clock with digital display.",
+    "Use the left arm to press the central button on the small alarm-clock.",
+    "Guide the left arm to press the centered button on the alarm-clock with digital display.",
+    "Click the top center button of the compact alarm-clock",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Push the button on the palm-sized alarm-clock's top center.",
+    "Use the left arm to tap the black alarm-clock's top center button.",
+    "Direct the left arm to click the button found on the rectangular alarm-clock.",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Push the top button of the alarm-clock with buttons on side using the left arm",
+    "Use the left arm to click the center button on the compact alarm-clock"
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with large numbers"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode12.json b/click_alarmclock/demo_diverse/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..336e95a136a5c0f6330589902ad0c323654d1559
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to activate the digital screen alarm-clock's button",
+    "Tap the center button on the alarm-clock with digital display.",
+    "Use the right arm to click the top center button on the small alarm-clock.",
+    "Use the right arm to click the top of the lightweight plastic alarm-clock",
+    "Tap the compact alarm-clock's top button with the right arm",
+    "the right arm clicks the center top button on the black alarm-clock",
+    "Hit the center of the alarm-clock with rounded edges's top button",
+    "Use the right arm to press the alarm-clock with buttons on side's top center button.",
+    "Press the center button on the palm-sized alarm-clock's top.",
+    "Press the compact alarm-clock's top button using the right arm",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Push the button on the smooth black alarm-clock's top center.",
+    "Use the right arm to press the lightweight plastic alarm-clock button",
+    "Use the right arm to press the center top of the digital screen alarm-clock",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Use the right arm to tap the alarm-clock with digital display's top button center",
+    "Push the central button on the rectangular alarm-clock's top side.",
+    "Click the center button on the compact alarm-clock's top side.",
+    "Touch the smooth black alarm-clock's button on the top side.",
+    "Locate and press the alarm-clock with rounded edges's top center button",
+    "Press the center top button of the compact alarm-clock",
+    "Use the right arm to press the central button on the smooth black alarm-clock.",
+    "the right arm activates the lightweight plastic alarm-clock by clicking the top button",
+    "Press the top button at the palm-sized alarm-clock's center.",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Ensure the right arm clicks the top center button of the alarm-clock with buttons on side",
+    "the right arm presses the center top button on the lightweight plastic alarm-clock",
+    "Guide the right arm to press the centered button on the black alarm-clock.",
+    "Click the middle button on the small alarm-clock's top side",
+    "Press the top middle button of the digital screen alarm-clock",
+    "Use the right arm to click the center button on the alarm-clock with buttons on side",
+    "Activate the black alarm-clock by pressing the top button",
+    "Activate the black alarm-clock by clicking its top button",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Direct the right arm to click the button found on the digital screen alarm-clock.",
+    "Touch the lightweight plastic alarm-clock's center top button with the right arm",
+    "Push the top button on the small alarm-clock",
+    "Click the top center button of the smooth black alarm-clock",
+    "Use the right arm to tap the black alarm-clock's top center button.",
+    "Use the right arm to tap the small alarm-clock's central button.",
+    "Use the right arm to press the digital screen alarm-clock's top button",
+    "Press the top button in the palm-sized alarm-clock's center.",
+    "Click the button centered on the small alarm-clock.",
+    "Press the center top button on the alarm-clock with buttons on side with the right arm",
+    "Click the button centered on the small alarm-clock's top.",
+    "Activate the digital screen alarm-clock by pressing its top",
+    "Point the right arm to press the button of the smooth black alarm-clock.",
+    "Push the top button of the compact alarm-clock using the right arm",
+    "Click the small alarm-clock's top center button using the right arm.",
+    "Tap the button at the alarm-clock with buttons on side's top center.",
+    "Use the right arm to activate the lightweight plastic alarm-clock's button",
+    "Tap the center button on the compact alarm-clock.",
+    "Use the right arm to click the top center button on the compact alarm-clock.",
+    "Use the right arm to click the top of the lightweight plastic alarm-clock",
+    "Tap the alarm-clock with buttons on side's top button with the right arm",
+    "the right arm clicks the center top button on the compact alarm-clock",
+    "Hit the center of the compact alarm-clock's top button",
+    "Use the right arm to press the black alarm-clock's top center button.",
+    "Press the center button on the small alarm-clock's top.",
+    "Press the digital screen alarm-clock's top button using the right arm",
+    "Push the center area of the black matte alarm-clock's top",
+    "Push the button on the small alarm-clock's top center.",
+    "Use the right arm to press the black matte alarm-clock button",
+    "Use the right arm to press the center top of the compact alarm-clock",
+    "Locate and press the top button on the alarm-clock with buttons on side",
+    "Use the right arm to tap the alarm-clock with buttons on side's top button center",
+    "Push the central button on the black alarm-clock's top side.",
+    "Click the center button on the compact alarm-clock's top side.",
+    "Touch the compact alarm-clock's button on the top side.",
+    "Locate and press the smooth black alarm-clock's top center button",
+    "Press the center top button of the alarm-clock with digital display",
+    "Use the right arm to press the central button on the rectangular alarm-clock.",
+    "the right arm activates the smooth black alarm-clock by clicking the top button",
+    "Press the top button at the compact alarm-clock's center.",
+    "Press the button on the black alarm-clock's top side",
+    "Ensure the right arm clicks the top center button of the alarm-clock with digital display",
+    "the right arm presses the center top button on the compact alarm-clock",
+    "Guide the right arm to press the centered button on the lightweight plastic alarm-clock.",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Press the top middle button of the rectangular alarm-clock",
+    "Use the right arm to click the center button on the lightweight plastic alarm-clock",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Activate the smooth black alarm-clock by clicking its top button",
+    "Click the center of the small alarm-clock's top",
+    "Direct the right arm to click the button found on the black matte alarm-clock.",
+    "Touch the palm-sized alarm-clock's center top button with the right arm",
+    "Push the top button on the lightweight plastic alarm-clock",
+    "Click the top center button of the small alarm-clock",
+    "Use the right arm to tap the rectangular alarm-clock's top center button.",
+    "Use the right arm to tap the black alarm-clock's central button.",
+    "Use the right arm to press the lightweight plastic alarm-clock's top button",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Click the button centered on the alarm-clock with digital display.",
+    "Press the center top button on the black matte alarm-clock with the right arm",
+    "Click the button centered on the smooth black alarm-clock's top.",
+    "Activate the black matte alarm-clock by pressing its top",
+    "Point the right arm to press the button of the black alarm-clock.",
+    "Push the top button of the alarm-clock with buttons on side using the right arm",
+    "Click the lightweight plastic alarm-clock's top center button using the right arm.",
+    "Tap the button at the lightweight plastic alarm-clock's top center."
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode13.json b/click_alarmclock/demo_diverse/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..415c8c88291fd992058a7e7c4fdd036c6133b996
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Guide the left arm to press the centered button on the black alarm-clock.",
+    "Click the center of the alarm-clock with rounded edges's top",
+    "Push the top button on the alarm-clock with buttons on side",
+    "Ensure the left arm clicks the top center button of the black matte alarm-clock",
+    "Use the left arm to press the central button on the black matte alarm-clock.",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Press the center top button on the alarm-clock with digital display with the left arm",
+    "Use the left arm to tap the small alarm-clock's top button center",
+    "Use the left arm to activate the alarm-clock with digital display's button",
+    "Use the left arm to press the lightweight plastic alarm-clock's top center button.",
+    "Tap the alarm-clock with buttons on side's top button with the left arm",
+    "Press the top middle button of the black alarm-clock",
+    "Push the button on the smooth black alarm-clock's top center.",
+    "Click the button centered on the alarm-clock with rounded edges's top.",
+    "Activate the black alarm-clock by clicking its top button",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Use the left arm to tap the compact alarm-clock's top center button.",
+    "Point the left arm to press the button of the digital screen alarm-clock.",
+    "Click the rectangular alarm-clock's top center button using the left arm.",
+    "Use the left arm to click the top center button on the alarm-clock with buttons on side.",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Touch the palm-sized alarm-clock's center top button with the left arm",
+    "Touch the compact alarm-clock's button on the top side.",
+    "Direct the left arm to click the button found on the black matte alarm-clock.",
+    "Use the left arm to click the center button on the black matte alarm-clock",
+    "Press the center button on the black alarm-clock's top.",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "Push the top button of the black matte alarm-clock using the left arm",
+    "Use the left arm to click the top of the lightweight plastic alarm-clock",
+    "Use the left arm to press the center top of the alarm-clock with rounded edges",
+    "Activate the compact alarm-clock by pressing its top",
+    "Locate and press the top button on the lightweight plastic alarm-clock",
+    "Press the alarm-clock with buttons on side's top button using the left arm",
+    "Click the button centered on the compact alarm-clock.",
+    "Push the center area of the alarm-clock with digital display's top",
+    "the left arm clicks the center top button on the alarm-clock with rounded edges",
+    "Tap the center button on the lightweight plastic alarm-clock.",
+    "Use the left arm to press the small alarm-clock button",
+    "Use the left arm to tap the small alarm-clock's central button.",
+    "Press the top button in the black matte alarm-clock's center.",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Use the left arm to press the black alarm-clock's top button",
+    "the left arm presses the center top button on the alarm-clock with buttons on side",
+    "Push the central button on the alarm-clock with rounded edges's top side.",
+    "the left arm activates the alarm-clock with digital display by clicking the top button",
+    "Activate the digital screen alarm-clock by pressing the top button",
+    "Guide the left arm to press the centered button on the alarm-clock with buttons on side.",
+    "Click the center of the digital screen alarm-clock's top",
+    "Push the top button on the lightweight plastic alarm-clock",
+    "Ensure the left arm clicks the top center button of the alarm-clock with buttons on side",
+    "Use the left arm to press the central button on the alarm-clock with buttons on side.",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Press the top button at the rectangular alarm-clock's center.",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Press the center top button on the small alarm-clock with the left arm",
+    "Use the left arm to tap the small alarm-clock's top button center",
+    "Use the left arm to activate the smooth black alarm-clock's button",
+    "Use the left arm to press the alarm-clock with rounded edges's top center button.",
+    "Tap the rectangular alarm-clock's top button with the left arm",
+    "Press the top middle button of the black matte alarm-clock",
+    "Push the button on the palm-sized alarm-clock's top center.",
+    "Click the button centered on the alarm-clock with digital display's top.",
+    "Activate the small alarm-clock by clicking its top button",
+    "Press the button on the compact alarm-clock's top side",
+    "Click the top center button of the alarm-clock with digital display",
+    "Press the center top button of the alarm-clock with rounded edges",
+    "Use the left arm to tap the compact alarm-clock's top center button.",
+    "Point the left arm to press the button of the compact alarm-clock.",
+    "Click the black alarm-clock's top center button using the left arm.",
+    "Use the left arm to click the top center button on the lightweight plastic alarm-clock.",
+    "Click the middle button on the black alarm-clock's top side",
+    "Touch the alarm-clock with buttons on side's center top button with the left arm",
+    "Touch the alarm-clock with buttons on side's button on the top side.",
+    "Direct the left arm to click the button found on the digital screen alarm-clock.",
+    "Use the left arm to click the center button on the black alarm-clock",
+    "Press the center button on the alarm-clock with buttons on side's top.",
+    "Click the center button on the palm-sized alarm-clock's top side.",
+    "Push the top button of the compact alarm-clock using the left arm",
+    "Use the left arm to click the top of the lightweight plastic alarm-clock",
+    "Use the left arm to press the center top of the palm-sized alarm-clock",
+    "Activate the small alarm-clock by pressing its top",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Press the black matte alarm-clock's top button using the left arm",
+    "Click the button centered on the lightweight plastic alarm-clock.",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "the left arm clicks the center top button on the alarm-clock with buttons on side",
+    "Tap the center button on the black matte alarm-clock.",
+    "Use the left arm to press the black alarm-clock button",
+    "Use the left arm to tap the alarm-clock with rounded edges's central button.",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Hit the center of the alarm-clock with rounded edges's top button",
+    "Use the left arm to press the small alarm-clock's top button",
+    "the left arm presses the center top button on the smooth black alarm-clock",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "the left arm activates the black alarm-clock by clicking the top button"
+  ],
+  "unseen": [
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode14.json b/click_alarmclock/demo_diverse/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c1f678123799c8a71f32cd38b6090ad86331e0c
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Use the left arm to tap the palm-sized dark blue clock's top center button.",
+    "Use the left arm to activate the square alarm clock's button",
+    "Locate and press the top button on the dark blue clock",
+    "Touch the square plastic alarm clock's center top button with the left arm",
+    "Use the left arm to press the center top of the clock with white dial",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Use the left arm to press the clock with white dial button",
+    "Tap the button at the dark blue clock's top center.",
+    "Press the top button in the alarm clock with green stripe's center.",
+    "Guide the left arm to press the centered button on the alarm clock with green stripe.",
+    "Click the center of the blue clock with green stripe's top",
+    "Click the top center button of the clock with black hands",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Use the left arm to click the top center button on the blue clock with green stripe.",
+    "Direct the left arm to click the button found on the blue clock with green stripe.",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Use the left arm to tap the clock with white dial's top button center",
+    "Push the top button on the small clock with rounded edges",
+    "Press the top middle button of the white-faced alarm clock",
+    "Click the button centered on the small clock with rounded edges.",
+    "Press the button on the clock with white dial's top side",
+    "Tap the alarm clock with green stripe's top button with the left arm",
+    "Use the left arm to tap the blue clock with green stripe's central button.",
+    "Press the square plastic alarm clock's top button using the left arm",
+    "Push the top button of the clock with black hands using the left arm",
+    "Ensure the left arm clicks the top center button of the palm-sized dark blue clock",
+    "Activate the square alarm clock by clicking its top button",
+    "Hit the center of the clock with black hands's top button",
+    "the left arm clicks the center top button on the clock with white dial",
+    "Press the center top button of the rounded square-shaped alarm clock",
+    "Click the middle button on the clock with black hands's top side",
+    "the left arm presses the center top button on the alarm clock with green stripe",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Point the left arm to press the button of the white-faced alarm clock.",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "Click the white-faced alarm clock's top center button using the left arm.",
+    "Use the left arm to press the clock with white dial's top center button.",
+    "Activate the alarm clock with green stripe by pressing the top button",
+    "Tap the center button on the clock with white dial.",
+    "Use the left arm to click the center button on the square plastic alarm clock",
+    "the left arm activates the alarm clock with green stripe by clicking the top button",
+    "Use the left arm to click the top of the palm-sized dark blue clock",
+    "Use the left arm to press the blue clock with green stripe's top button",
+    "Push the center area of the dark blue clock's top",
+    "Use the left arm to press the central button on the rounded square-shaped alarm clock.",
+    "Press the center top button on the square alarm clock with the left arm",
+    "Click the center button on the clock with white dial's top side.",
+    "Activate the small plastic alarm clock by pressing its top",
+    "Push the central button on the clock with black hands's top side.",
+    "Use the left arm to tap the blue clock with green stripe's top center button.",
+    "Use the left arm to activate the rounded square-shaped alarm clock's button",
+    "Locate and press the top button on the small clock with rounded edges",
+    "Touch the square alarm clock's center top button with the left arm",
+    "Use the left arm to press the center top of the blue clock with green stripe",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Use the left arm to press the clock with white dial button",
+    "Tap the button at the square alarm clock's top center.",
+    "Press the top button in the clock with white dial's center.",
+    "Guide the left arm to press the centered button on the blue clock with green stripe.",
+    "Click the center of the small clock with rounded edges's top",
+    "Click the top center button of the palm-sized dark blue clock",
+    "Touch the small plastic alarm clock's button on the top side.",
+    "Press the center button on the blue clock with green stripe's top.",
+    "Use the left arm to click the top center button on the square alarm clock.",
+    "Direct the left arm to click the button found on the clock with black hands.",
+    "Click the button centered on the clock with black hands's top.",
+    "Use the left arm to tap the small plastic alarm clock's top button center",
+    "Push the top button on the small plastic alarm clock",
+    "Press the top middle button of the rounded square-shaped alarm clock",
+    "Click the button centered on the clock with black hands.",
+    "Press the button on the alarm clock with green stripe's top side",
+    "Tap the square plastic alarm clock's top button with the left arm",
+    "Use the left arm to tap the clock with white dial's central button.",
+    "Press the dark blue clock's top button using the left arm",
+    "Push the top button of the alarm clock with green stripe using the left arm",
+    "Ensure the left arm clicks the top center button of the blue clock with green stripe",
+    "Activate the clock with white dial by clicking its top button",
+    "Hit the center of the small plastic alarm clock's top button",
+    "the left arm clicks the center top button on the square alarm clock",
+    "Press the center top button of the alarm clock with green stripe",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "the left arm presses the center top button on the alarm clock with green stripe",
+    "Push the button on the alarm clock with green stripe's top center.",
+    "Point the left arm to press the button of the blue clock with green stripe.",
+    "Press the top button at the clock with white dial's center.",
+    "Click the rounded square-shaped alarm clock's top center button using the left arm.",
+    "Use the left arm to press the clock with black hands's top center button.",
+    "Activate the palm-sized dark blue clock by pressing the top button",
+    "Tap the center button on the square alarm clock.",
+    "Use the left arm to click the center button on the clock with white dial",
+    "the left arm activates the square plastic alarm clock by clicking the top button",
+    "Use the left arm to click the top of the small clock with rounded edges",
+    "Use the left arm to press the small clock with rounded edges's top button",
+    "Push the center area of the clock with black hands's top",
+    "Use the left arm to press the central button on the palm-sized dark blue clock.",
+    "Press the center top button on the small plastic alarm clock with the left arm",
+    "Click the center button on the white-faced alarm clock's top side.",
+    "Activate the white-faced alarm clock by pressing its top"
+  ],
+  "unseen": [
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode15.json b/click_alarmclock/demo_diverse/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..af9b9286cd45b5415783f83a0ca44b122b3a9aa5
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "Use the right arm to tap the white-faced alarm clock's central button.",
+    "Push the button on the rounded square-shaped alarm clock's top center.",
+    "Click the center button on the small clock with rounded edges's top side.",
+    "Press the center button on the clock with white dial's top.",
+    "Ensure the right arm clicks the top center button of the rounded square-shaped alarm clock",
+    "the right arm presses the center top button on the small clock with rounded edges",
+    "Press the alarm clock with green stripe's top button using the right arm",
+    "Click the alarm clock with green stripe's top center button using the right arm.",
+    "Press the center top button of the small clock with rounded edges",
+    "Push the top button on the small clock with rounded edges",
+    "Activate the small plastic alarm clock by pressing its top",
+    "Click the button centered on the square plastic alarm clock.",
+    "Tap the center button on the square plastic alarm clock.",
+    "Use the right arm to activate the square plastic alarm clock's button",
+    "Use the right arm to click the top center button on the square alarm clock.",
+    "Press the center top button on the dark blue clock with the right arm",
+    "Use the right arm to press the central button on the small plastic alarm clock.",
+    "Point the right arm to press the button of the dark blue clock.",
+    "Activate the small clock with rounded edges by clicking its top button",
+    "Press the top button at the clock with white dial's center.",
+    "Press the button on the clock with black hands's top side",
+    "Direct the right arm to click the button found on the rounded square-shaped alarm clock.",
+    "Push the top button of the dark blue clock using the right arm",
+    "Click the center of the square alarm clock's top",
+    "Tap the button at the palm-sized dark blue clock's top center.",
+    "Guide the right arm to press the centered button on the clock with black hands.",
+    "Use the right arm to tap the square plastic alarm clock's top center button.",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Use the right arm to press the square alarm clock's top center button.",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Use the right arm to press the clock with black hands's top button",
+    "Use the right arm to press the white-faced alarm clock button",
+    "Push the central button on the square alarm clock's top side.",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Activate the clock with white dial by pressing the top button",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "Click the top center button of the white-faced alarm clock",
+    "Tap the alarm clock with green stripe's top button with the right arm",
+    "Click the middle button on the palm-sized dark blue clock's top side",
+    "Touch the dark blue clock's center top button with the right arm",
+    "Use the right arm to click the center button on the blue clock with green stripe",
+    "the right arm activates the palm-sized dark blue clock by clicking the top button",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Locate and press the top button on the small plastic alarm clock",
+    "Touch the square plastic alarm clock's button on the top side.",
+    "Use the right arm to click the top of the dark blue clock",
+    "Locate and press the dark blue clock's top center button",
+    "Use the right arm to press the center top of the square plastic alarm clock",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "Use the right arm to tap the square plastic alarm clock's central button.",
+    "Push the button on the clock with black hands's top center.",
+    "Click the center button on the dark blue clock's top side.",
+    "Press the center button on the blue clock with green stripe's top.",
+    "Ensure the right arm clicks the top center button of the dark blue clock",
+    "the right arm presses the center top button on the palm-sized dark blue clock",
+    "Press the alarm clock with green stripe's top button using the right arm",
+    "Click the small clock with rounded edges's top center button using the right arm.",
+    "Press the center top button of the small plastic alarm clock",
+    "Push the top button on the white-faced alarm clock",
+    "Activate the small clock with rounded edges by pressing its top",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Tap the center button on the clock with white dial.",
+    "Use the right arm to activate the white-faced alarm clock's button",
+    "Use the right arm to click the top center button on the palm-sized dark blue clock.",
+    "Press the center top button on the clock with white dial with the right arm",
+    "Use the right arm to press the central button on the dark blue clock.",
+    "Point the right arm to press the button of the white-faced alarm clock.",
+    "Activate the white-faced alarm clock by clicking its top button",
+    "Press the top button at the dark blue clock's center.",
+    "Press the button on the clock with white dial's top side",
+    "Direct the right arm to click the button found on the clock with white dial.",
+    "Push the top button of the white-faced alarm clock using the right arm",
+    "Click the center of the clock with white dial's top",
+    "Tap the button at the square alarm clock's top center.",
+    "Guide the right arm to press the centered button on the clock with black hands.",
+    "Use the right arm to tap the small plastic alarm clock's top center button.",
+    "Hit the center of the small clock with rounded edges's top button",
+    "Use the right arm to press the white-faced alarm clock's top center button.",
+    "Click the button centered on the clock with white dial's top.",
+    "the right arm clicks the center top button on the palm-sized dark blue clock",
+    "Use the right arm to press the palm-sized dark blue clock's top button",
+    "Use the right arm to press the clock with white dial button",
+    "Push the central button on the palm-sized dark blue clock's top side.",
+    "Press the top button in the clock with white dial's center.",
+    "Activate the clock with black hands by pressing the top button",
+    "Use the right arm to tap the square alarm clock's top button center",
+    "Click the top center button of the alarm clock with green stripe",
+    "Tap the blue clock with green stripe's top button with the right arm",
+    "Click the middle button on the small plastic alarm clock's top side",
+    "Touch the square alarm clock's center top button with the right arm",
+    "Use the right arm to click the center button on the rounded square-shaped alarm clock",
+    "the right arm activates the square alarm clock by clicking the top button",
+    "Press the top middle button of the rounded square-shaped alarm clock",
+    "Locate and press the top button on the small plastic alarm clock",
+    "Touch the clock with black hands's button on the top side.",
+    "Use the right arm to click the top of the square alarm clock",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Use the right arm to press the center top of the square alarm clock"
+  ],
+  "unseen": [
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode16.json b/click_alarmclock/demo_diverse/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..7901fec6b59a9293264c07ff6aa5b6a27b70b1ea
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the button centered on the square plastic alarm clock's top.",
+    "Direct the right arm to click the button found on the blue clock with green stripe.",
+    "Click the button centered on the small clock with rounded edges.",
+    "Use the right arm to press the small plastic alarm clock button",
+    "Use the right arm to press the blue clock with green stripe's top button",
+    "the right arm activates the small plastic alarm clock by clicking the top button",
+    "Press the top middle button of the rounded square-shaped alarm clock",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Ensure the right arm clicks the top center button of the square plastic alarm clock",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Press the center top button on the clock with white dial with the right arm",
+    "Guide the right arm to press the centered button on the small clock with rounded edges.",
+    "Point the right arm to press the button of the dark blue clock.",
+    "the right arm presses the center top button on the small plastic alarm clock",
+    "Use the right arm to tap the dark blue clock's central button.",
+    "Activate the clock with white dial by clicking its top button",
+    "Use the right arm to click the top center button on the blue clock with green stripe.",
+    "Use the right arm to tap the clock with white dial's top button center",
+    "Use the right arm to click the top of the blue clock with green stripe",
+    "Press the clock with white dial's top button using the right arm",
+    "Press the button on the clock with black hands's top side",
+    "Press the top button in the dark blue clock's center.",
+    "Activate the clock with white dial by pressing its top",
+    "Click the square alarm clock's top center button using the right arm.",
+    "Use the right arm to press the center top of the white-faced alarm clock",
+    "Click the middle button on the palm-sized dark blue clock's top side",
+    "Use the right arm to tap the square alarm clock's top center button.",
+    "Touch the clock with black hands's button on the top side.",
+    "Tap the button at the clock with black hands's top center.",
+    "Activate the clock with black hands by pressing the top button",
+    "the right arm clicks the center top button on the white-faced alarm clock",
+    "Use the right arm to press the central button on the small plastic alarm clock.",
+    "Click the center of the square alarm clock's top",
+    "Press the center button on the palm-sized dark blue clock's top.",
+    "Press the top button at the rounded square-shaped alarm clock's center.",
+    "Use the right arm to press the square alarm clock's top center button.",
+    "Push the top button on the clock with white dial",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Use the right arm to click the center button on the small clock with rounded edges",
+    "Tap the center button on the alarm clock with green stripe.",
+    "Tap the blue clock with green stripe's top button with the right arm",
+    "Hit the center of the white-faced alarm clock's top button",
+    "Use the right arm to activate the small clock with rounded edges's button",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Touch the alarm clock with green stripe's center top button with the right arm",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "Press the center top button of the clock with black hands",
+    "Push the center area of the square alarm clock's top",
+    "Push the top button of the white-faced alarm clock using the right arm",
+    "Click the top center button of the alarm clock with green stripe",
+    "Click the button centered on the square plastic alarm clock's top.",
+    "Direct the right arm to click the button found on the square plastic alarm clock.",
+    "Click the button centered on the blue clock with green stripe.",
+    "Use the right arm to press the small plastic alarm clock button",
+    "Use the right arm to press the square plastic alarm clock's top button",
+    "the right arm activates the alarm clock with green stripe by clicking the top button",
+    "Press the top middle button of the small plastic alarm clock",
+    "Push the button on the rounded square-shaped alarm clock's top center.",
+    "Ensure the right arm clicks the top center button of the square plastic alarm clock",
+    "Locate and press the top button on the square plastic alarm clock",
+    "Press the center top button on the palm-sized dark blue clock with the right arm",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "Point the right arm to press the button of the blue clock with green stripe.",
+    "the right arm presses the center top button on the palm-sized dark blue clock",
+    "Use the right arm to tap the clock with black hands's central button.",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Use the right arm to click the top center button on the alarm clock with green stripe.",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "Use the right arm to click the top of the alarm clock with green stripe",
+    "Press the clock with black hands's top button using the right arm",
+    "Press the button on the dark blue clock's top side",
+    "Press the top button in the alarm clock with green stripe's center.",
+    "Activate the clock with black hands by pressing its top",
+    "Click the palm-sized dark blue clock's top center button using the right arm.",
+    "Use the right arm to press the center top of the small clock with rounded edges",
+    "Click the middle button on the palm-sized dark blue clock's top side",
+    "Use the right arm to tap the alarm clock with green stripe's top center button.",
+    "Touch the small plastic alarm clock's button on the top side.",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Activate the clock with black hands by pressing the top button",
+    "the right arm clicks the center top button on the alarm clock with green stripe",
+    "Use the right arm to press the central button on the square plastic alarm clock.",
+    "Click the center of the clock with black hands's top",
+    "Press the center button on the square plastic alarm clock's top.",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "Use the right arm to press the clock with black hands's top center button.",
+    "Push the top button on the clock with white dial",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Use the right arm to click the center button on the alarm clock with green stripe",
+    "Tap the center button on the small plastic alarm clock.",
+    "Tap the small clock with rounded edges's top button with the right arm",
+    "Hit the center of the small clock with rounded edges's top button",
+    "Use the right arm to activate the small clock with rounded edges's button",
+    "Locate and press the square alarm clock's top center button",
+    "Touch the palm-sized dark blue clock's center top button with the right arm",
+    "Click the center button on the small clock with rounded edges's top side.",
+    "Press the center top button of the rounded square-shaped alarm clock",
+    "Push the center area of the small plastic alarm clock's top",
+    "Push the top button of the clock with white dial using the right arm",
+    "Click the top center button of the square alarm clock"
+  ],
+  "unseen": [
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode17.json b/click_alarmclock/demo_diverse/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..e64b55e417fb961e5d91e727ea0de63ba368ad43
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the right arm activates the small clock with rounded edges by clicking the top button",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Use the right arm to click the center button on the square alarm clock",
+    "Tap the square plastic alarm clock's top button with the right arm",
+    "Use the right arm to tap the dark blue clock's central button.",
+    "Use the right arm to click the top of the dark blue clock",
+    "Use the right arm to tap the small clock with rounded edges's top button center",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Use the right arm to click the top center button on the small clock with rounded edges.",
+    "Tap the center button on the square plastic alarm clock.",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Use the right arm to press the center top of the palm-sized dark blue clock",
+    "Push the center area of the blue clock with green stripe's top",
+    "the right arm clicks the center top button on the white-faced alarm clock",
+    "Press the center top button on the square plastic alarm clock with the right arm",
+    "Press the top button at the rounded square-shaped alarm clock's center.",
+    "Push the top button on the rounded square-shaped alarm clock",
+    "Push the central button on the rounded square-shaped alarm clock's top side.",
+    "Use the right arm to press the square plastic alarm clock's top button",
+    "Press the center top button of the dark blue clock",
+    "Locate and press the top button on the dark blue clock",
+    "Push the button on the clock with black hands's top center.",
+    "Point the right arm to press the button of the palm-sized dark blue clock.",
+    "Press the button on the small clock with rounded edges's top side",
+    "Use the right arm to press the square plastic alarm clock's top center button.",
+    "Push the top button of the alarm clock with green stripe using the right arm",
+    "Click the center button on the clock with white dial's top side.",
+    "Use the right arm to press the clock with black hands button",
+    "Touch the clock with white dial's center top button with the right arm",
+    "Guide the right arm to press the centered button on the square plastic alarm clock.",
+    "Use the right arm to tap the square alarm clock's top center button.",
+    "Click the button centered on the alarm clock with green stripe.",
+    "Activate the small clock with rounded edges by clicking its top button",
+    "Hit the center of the alarm clock with green stripe's top button",
+    "Click the center of the rounded square-shaped alarm clock's top",
+    "the right arm presses the center top button on the clock with white dial",
+    "Press the center button on the clock with white dial's top.",
+    "Use the right arm to activate the white-faced alarm clock's button",
+    "Activate the blue clock with green stripe by pressing the top button",
+    "Click the top center button of the blue clock with green stripe",
+    "Click the white-faced alarm clock's top center button using the right arm.",
+    "Press the top middle button of the small clock with rounded edges",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Click the button centered on the rounded square-shaped alarm clock's top.",
+    "Click the middle button on the clock with white dial's top side",
+    "Ensure the right arm clicks the top center button of the clock with white dial",
+    "Direct the right arm to click the button found on the clock with black hands.",
+    "Press the square alarm clock's top button using the right arm",
+    "Use the right arm to press the central button on the blue clock with green stripe.",
+    "Tap the button at the square alarm clock's top center.",
+    "the right arm activates the clock with black hands by clicking the top button",
+    "Locate and press the clock with white dial's top center button",
+    "Use the right arm to click the center button on the clock with white dial",
+    "Tap the blue clock with green stripe's top button with the right arm",
+    "Use the right arm to tap the dark blue clock's central button.",
+    "Use the right arm to click the top of the square alarm clock",
+    "Use the right arm to tap the white-faced alarm clock's top button center",
+    "Activate the small clock with rounded edges by pressing its top",
+    "Use the right arm to click the top center button on the palm-sized dark blue clock.",
+    "Tap the center button on the blue clock with green stripe.",
+    "Press the top button in the square alarm clock's center.",
+    "Use the right arm to press the center top of the rounded square-shaped alarm clock",
+    "Push the center area of the small plastic alarm clock's top",
+    "the right arm clicks the center top button on the clock with black hands",
+    "Press the center top button on the small plastic alarm clock with the right arm",
+    "Press the top button at the small plastic alarm clock's center.",
+    "Push the top button on the alarm clock with green stripe",
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Use the right arm to press the rounded square-shaped alarm clock's top button",
+    "Press the center top button of the square alarm clock",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Point the right arm to press the button of the blue clock with green stripe.",
+    "Press the button on the palm-sized dark blue clock's top side",
+    "Use the right arm to press the rounded square-shaped alarm clock's top center button.",
+    "Push the top button of the small clock with rounded edges using the right arm",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "Use the right arm to press the dark blue clock button",
+    "Touch the alarm clock with green stripe's center top button with the right arm",
+    "Guide the right arm to press the centered button on the square plastic alarm clock.",
+    "Use the right arm to tap the small plastic alarm clock's top center button.",
+    "Click the button centered on the alarm clock with green stripe.",
+    "Activate the dark blue clock by clicking its top button",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Click the center of the square alarm clock's top",
+    "the right arm presses the center top button on the square plastic alarm clock",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Use the right arm to activate the dark blue clock's button",
+    "Activate the clock with black hands by pressing the top button",
+    "Click the top center button of the dark blue clock",
+    "Click the dark blue clock's top center button using the right arm.",
+    "Press the top middle button of the clock with black hands",
+    "Touch the clock with black hands's button on the top side.",
+    "Click the button centered on the rounded square-shaped alarm clock's top.",
+    "Click the middle button on the square alarm clock's top side",
+    "Ensure the right arm clicks the top center button of the palm-sized dark blue clock",
+    "Direct the right arm to click the button found on the clock with black hands.",
+    "Press the clock with black hands's top button using the right arm",
+    "Use the right arm to press the central button on the white-faced alarm clock.",
+    "Tap the button at the white-faced alarm clock's top center."
+  ],
+  "unseen": [
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the blue alarm clock."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode18.json b/click_alarmclock/demo_diverse/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b6e37eaed2ab96f65bd21798ad36d2266e554f6
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the alarm-clock with buttons on side's top button using the right arm",
+    "the right arm presses the center top button on the rectangular alarm-clock",
+    "Use the right arm to tap the black matte alarm-clock's top center button.",
+    "Direct the right arm to click the button found on the digital screen alarm-clock.",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Use the right arm to press the lightweight plastic alarm-clock button",
+    "Tap the alarm-clock with rounded edges's top button with the right arm",
+    "Click the button centered on the black matte alarm-clock.",
+    "Use the right arm to activate the small alarm-clock's button",
+    "Ensure the right arm clicks the top center button of the smooth black alarm-clock",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Press the center top button of the rectangular alarm-clock",
+    "the right arm activates the small alarm-clock by clicking the top button",
+    "Click the top center button of the alarm-clock with digital display",
+    "Use the right arm to click the top center button on the alarm-clock with buttons on side.",
+    "Touch the alarm-clock with buttons on side's button on the top side.",
+    "Push the button on the digital screen alarm-clock's top center.",
+    "Use the right arm to click the top of the alarm-clock with buttons on side",
+    "Use the right arm to press the lightweight plastic alarm-clock's top button",
+    "Press the top middle button of the black alarm-clock",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Hit the center of the compact alarm-clock's top button",
+    "Push the top button of the alarm-clock with buttons on side using the right arm",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Activate the alarm-clock with rounded edges by clicking its top button",
+    "Use the right arm to press the central button on the small alarm-clock.",
+    "Guide the right arm to press the centered button on the lightweight plastic alarm-clock.",
+    "Click the alarm-clock with rounded edges's top center button using the right arm.",
+    "Use the right arm to tap the small alarm-clock's central button.",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "the right arm clicks the center top button on the alarm-clock with digital display",
+    "Use the right arm to tap the compact alarm-clock's top button center",
+    "Click the center of the black alarm-clock's top",
+    "Push the center area of the black matte alarm-clock's top",
+    "Press the top button at the compact alarm-clock's center.",
+    "Click the button centered on the compact alarm-clock's top.",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Use the right arm to press the center top of the rectangular alarm-clock",
+    "Tap the button at the black matte alarm-clock's top center.",
+    "Point the right arm to press the button of the alarm-clock with digital display.",
+    "Locate and press the alarm-clock with rounded edges's top center button",
+    "Push the central button on the black matte alarm-clock's top side.",
+    "Push the top button on the compact alarm-clock",
+    "Tap the center button on the smooth black alarm-clock.",
+    "Press the center button on the palm-sized alarm-clock's top.",
+    "Use the right arm to press the alarm-clock with buttons on side's top center button.",
+    "Touch the lightweight plastic alarm-clock's center top button with the right arm",
+    "Click the center button on the rectangular alarm-clock's top side.",
+    "Use the right arm to click the center button on the digital screen alarm-clock",
+    "Press the center top button on the small alarm-clock with the right arm",
+    "Press the rectangular alarm-clock's top button using the right arm",
+    "the right arm presses the center top button on the alarm-clock with buttons on side",
+    "Use the right arm to tap the black alarm-clock's top center button.",
+    "Direct the right arm to click the button found on the smooth black alarm-clock.",
+    "Activate the rectangular alarm-clock by pressing the top button",
+    "Use the right arm to press the smooth black alarm-clock button",
+    "Tap the smooth black alarm-clock's top button with the right arm",
+    "Click the button centered on the small alarm-clock.",
+    "Use the right arm to activate the black matte alarm-clock's button",
+    "Ensure the right arm clicks the top center button of the smooth black alarm-clock",
+    "Press the button on the alarm-clock with digital display's top side",
+    "Press the center top button of the black matte alarm-clock",
+    "the right arm activates the compact alarm-clock by clicking the top button",
+    "Click the top center button of the compact alarm-clock",
+    "Use the right arm to click the top center button on the rectangular alarm-clock.",
+    "Touch the small alarm-clock's button on the top side.",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Use the right arm to click the top of the lightweight plastic alarm-clock",
+    "Use the right arm to press the alarm-clock with buttons on side's top button",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Press the top button in the lightweight plastic alarm-clock's center.",
+    "Hit the center of the alarm-clock with digital display's top button",
+    "Push the top button of the black alarm-clock using the right arm",
+    "Activate the digital screen alarm-clock by pressing its top",
+    "Activate the smooth black alarm-clock by clicking its top button",
+    "Use the right arm to press the central button on the rectangular alarm-clock.",
+    "Guide the right arm to press the centered button on the small alarm-clock.",
+    "Click the rectangular alarm-clock's top center button using the right arm.",
+    "Use the right arm to tap the alarm-clock with rounded edges's central button.",
+    "Locate and press the top button on the smooth black alarm-clock",
+    "the right arm clicks the center top button on the lightweight plastic alarm-clock",
+    "Use the right arm to tap the alarm-clock with buttons on side's top button center",
+    "Click the center of the compact alarm-clock's top",
+    "Push the center area of the black matte alarm-clock's top",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Click the middle button on the small alarm-clock's top side",
+    "Use the right arm to press the center top of the rectangular alarm-clock",
+    "Tap the button at the black alarm-clock's top center.",
+    "Point the right arm to press the button of the alarm-clock with buttons on side.",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "Push the central button on the black matte alarm-clock's top side.",
+    "Push the top button on the lightweight plastic alarm-clock",
+    "Tap the center button on the alarm-clock with buttons on side.",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Use the right arm to press the alarm-clock with rounded edges's top center button.",
+    "Touch the black alarm-clock's center top button with the right arm",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "Use the right arm to click the center button on the black alarm-clock",
+    "Press the center top button on the alarm-clock with buttons on side with the right arm"
+  ],
+  "unseen": [
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode19.json b/click_alarmclock/demo_diverse/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb24235fb3c3e74ccb07f042d12eb70393b2490
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Point the right arm to press the button of the rectangular alarm-clock.",
+    "Use the right arm to activate the smooth black alarm-clock's button",
+    "Use the right arm to press the rectangular alarm-clock's top center button.",
+    "Guide the right arm to press the centered button on the compact alarm-clock.",
+    "Click the middle button on the small alarm-clock's top side",
+    "Click the button centered on the black alarm-clock's top.",
+    "Use the right arm to tap the digital screen alarm-clock's top center button.",
+    "Use the right arm to tap the black alarm-clock's top button center",
+    "Press the digital screen alarm-clock's top button using the right arm",
+    "Push the central button on the rectangular alarm-clock's top side.",
+    "Touch the alarm-clock with rounded edges's button on the top side.",
+    "Activate the alarm-clock with buttons on side by pressing its top",
+    "Push the top button on the digital screen alarm-clock",
+    "Press the center top button of the alarm-clock with buttons on side",
+    "the right arm presses the center top button on the smooth black alarm-clock",
+    "Tap the button at the alarm-clock with rounded edges's top center.",
+    "Use the right arm to click the top center button on the alarm-clock with digital display.",
+    "Use the right arm to press the black alarm-clock button",
+    "Press the center top button on the lightweight plastic alarm-clock with the right arm",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Use the right arm to press the central button on the smooth black alarm-clock.",
+    "Push the button on the small alarm-clock's top center.",
+    "Hit the center of the compact alarm-clock's top button",
+    "Locate and press the top button on the alarm-clock with digital display",
+    "Use the right arm to click the center button on the compact alarm-clock",
+    "Push the top button of the small alarm-clock using the right arm",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "Click the center of the alarm-clock with digital display's top",
+    "Use the right arm to press the smooth black alarm-clock's top button",
+    "Click the button centered on the compact alarm-clock.",
+    "Click the center button on the palm-sized alarm-clock's top side.",
+    "Tap the center button on the black alarm-clock.",
+    "Direct the right arm to click the button found on the smooth black alarm-clock.",
+    "Click the lightweight plastic alarm-clock's top center button using the right arm.",
+    "Touch the digital screen alarm-clock's center top button with the right arm",
+    "Press the top button in the alarm-clock with buttons on side's center.",
+    "Press the center button on the black matte alarm-clock's top.",
+    "Use the right arm to click the top of the lightweight plastic alarm-clock",
+    "Tap the small alarm-clock's top button with the right arm",
+    "the right arm clicks the center top button on the black alarm-clock",
+    "the right arm activates the rectangular alarm-clock by clicking the top button",
+    "Click the top center button of the alarm-clock with buttons on side",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "Locate and press the black alarm-clock's top center button",
+    "Press the button on the black alarm-clock's top side",
+    "Use the right arm to press the center top of the black alarm-clock",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Ensure the right arm clicks the top center button of the black alarm-clock",
+    "Press the top button at the black alarm-clock's center.",
+    "Use the right arm to tap the small alarm-clock's central button.",
+    "Point the right arm to press the button of the black matte alarm-clock.",
+    "Use the right arm to activate the small alarm-clock's button",
+    "Use the right arm to press the rectangular alarm-clock's top center button.",
+    "Guide the right arm to press the centered button on the lightweight plastic alarm-clock.",
+    "Click the middle button on the alarm-clock with buttons on side's top side",
+    "Click the button centered on the small alarm-clock's top.",
+    "Use the right arm to tap the alarm-clock with buttons on side's top center button.",
+    "Use the right arm to tap the smooth black alarm-clock's top button center",
+    "Press the alarm-clock with rounded edges's top button using the right arm",
+    "Push the central button on the black alarm-clock's top side.",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "Activate the small alarm-clock by pressing its top",
+    "Push the top button on the small alarm-clock",
+    "Press the center top button of the alarm-clock with rounded edges",
+    "the right arm presses the center top button on the black alarm-clock",
+    "Tap the button at the small alarm-clock's top center.",
+    "Use the right arm to click the top center button on the palm-sized alarm-clock.",
+    "Use the right arm to press the small alarm-clock button",
+    "Press the center top button on the alarm-clock with buttons on side with the right arm",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Use the right arm to press the central button on the lightweight plastic alarm-clock.",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "Hit the center of the black alarm-clock's top button",
+    "Locate and press the top button on the alarm-clock with rounded edges",
+    "Use the right arm to click the center button on the black alarm-clock",
+    "Push the top button of the alarm-clock with rounded edges using the right arm",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Click the center of the digital screen alarm-clock's top",
+    "Use the right arm to press the alarm-clock with rounded edges's top button",
+    "Click the button centered on the black matte alarm-clock.",
+    "Click the center button on the small alarm-clock's top side.",
+    "Tap the center button on the black matte alarm-clock.",
+    "Direct the right arm to click the button found on the small alarm-clock.",
+    "Click the alarm-clock with rounded edges's top center button using the right arm.",
+    "Touch the smooth black alarm-clock's center top button with the right arm",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Use the right arm to click the top of the compact alarm-clock",
+    "Tap the compact alarm-clock's top button with the right arm",
+    "the right arm clicks the center top button on the black alarm-clock",
+    "the right arm activates the black matte alarm-clock by clicking the top button",
+    "Click the top center button of the black matte alarm-clock",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Locate and press the alarm-clock with buttons on side's top center button",
+    "Press the button on the lightweight plastic alarm-clock's top side",
+    "Use the right arm to press the center top of the black alarm-clock",
+    "Press the top middle button of the lightweight plastic alarm-clock",
+    "Ensure the right arm clicks the top center button of the black matte alarm-clock",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Use the right arm to tap the smooth black alarm-clock's central button."
+  ],
+  "unseen": [
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode2.json b/click_alarmclock/demo_diverse/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c38b92d4675e0f72987a057748e71e20d69b9c44
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to press the rectangular alarm-clock's top button",
+    "the left arm presses the center top button on the lightweight plastic alarm-clock",
+    "Press the top button at the compact alarm-clock's center.",
+    "Push the central button on the compact alarm-clock's top side.",
+    "Click the button centered on the compact alarm-clock's top.",
+    "Use the left arm to click the top of the rectangular alarm-clock",
+    "Locate and press the black alarm-clock's top center button",
+    "Activate the rectangular alarm-clock by clicking its top button",
+    "Use the left arm to click the top center button on the lightweight plastic alarm-clock.",
+    "Use the left arm to activate the black alarm-clock's button",
+    "Touch the lightweight plastic alarm-clock's center top button with the left arm",
+    "Press the center top button of the alarm-clock with digital display",
+    "the left arm clicks the center top button on the alarm-clock with rounded edges",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Press the center top button on the lightweight plastic alarm-clock with the left arm",
+    "Push the top button on the compact alarm-clock",
+    "Click the middle button on the digital screen alarm-clock's top side",
+    "Point the left arm to press the button of the palm-sized alarm-clock.",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Tap the button at the alarm-clock with buttons on side's top center.",
+    "Use the left arm to tap the palm-sized alarm-clock's top center button.",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Press the button on the black matte alarm-clock's top side",
+    "Use the left arm to click the center button on the smooth black alarm-clock",
+    "Use the left arm to tap the smooth black alarm-clock's central button.",
+    "Activate the compact alarm-clock by pressing its top",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Push the top button of the black matte alarm-clock using the left arm",
+    "Direct the left arm to click the button found on the digital screen alarm-clock.",
+    "Push the button on the compact alarm-clock's top center.",
+    "Use the left arm to press the smooth black alarm-clock button",
+    "Press the center button on the alarm-clock with buttons on side's top.",
+    "Click the button centered on the lightweight plastic alarm-clock.",
+    "Click the top center button of the compact alarm-clock",
+    "Press the top button in the lightweight plastic alarm-clock's center.",
+    "Tap the small alarm-clock's top button with the left arm",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Ensure the left arm clicks the top center button of the black alarm-clock",
+    "Use the left arm to press the black alarm-clock's top center button.",
+    "Guide the left arm to press the centered button on the lightweight plastic alarm-clock.",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Use the left arm to press the center top of the rectangular alarm-clock",
+    "Use the left arm to tap the compact alarm-clock's top button center",
+    "Push the center area of the small alarm-clock's top",
+    "Click the palm-sized alarm-clock's top center button using the left arm.",
+    "Tap the center button on the alarm-clock with rounded edges.",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges.",
+    "the left arm activates the rectangular alarm-clock by clicking the top button",
+    "Press the alarm-clock with rounded edges's top button using the left arm",
+    "Use the left arm to press the alarm-clock with buttons on side's top button",
+    "the left arm presses the center top button on the palm-sized alarm-clock",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Push the central button on the rectangular alarm-clock's top side.",
+    "Click the button centered on the compact alarm-clock's top.",
+    "Use the left arm to click the top of the alarm-clock with digital display",
+    "Locate and press the alarm-clock with buttons on side's top center button",
+    "Activate the digital screen alarm-clock by clicking its top button",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Use the left arm to activate the alarm-clock with digital display's button",
+    "Touch the alarm-clock with digital display's center top button with the left arm",
+    "Press the center top button of the palm-sized alarm-clock",
+    "the left arm clicks the center top button on the black alarm-clock",
+    "Hit the center of the black alarm-clock's top button",
+    "Press the center top button on the smooth black alarm-clock with the left arm",
+    "Push the top button on the compact alarm-clock",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Point the left arm to press the button of the black matte alarm-clock.",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Use the left arm to tap the alarm-clock with rounded edges's top center button.",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Use the left arm to click the center button on the small alarm-clock",
+    "Use the left arm to tap the lightweight plastic alarm-clock's central button.",
+    "Activate the black matte alarm-clock by pressing its top",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Push the top button of the digital screen alarm-clock using the left arm",
+    "Direct the left arm to click the button found on the lightweight plastic alarm-clock.",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Use the left arm to press the digital screen alarm-clock button",
+    "Press the center button on the digital screen alarm-clock's top.",
+    "Click the button centered on the alarm-clock with rounded edges.",
+    "Click the top center button of the alarm-clock with rounded edges",
+    "Press the top button in the alarm-clock with digital display's center.",
+    "Tap the black matte alarm-clock's top button with the left arm",
+    "Click the center button on the alarm-clock with rounded edges's top side.",
+    "Locate and press the top button on the alarm-clock with digital display",
+    "Ensure the left arm clicks the top center button of the smooth black alarm-clock",
+    "Use the left arm to press the alarm-clock with buttons on side's top center button.",
+    "Guide the left arm to press the centered button on the palm-sized alarm-clock.",
+    "Click the center of the rectangular alarm-clock's top",
+    "Use the left arm to press the center top of the alarm-clock with rounded edges",
+    "Use the left arm to tap the smooth black alarm-clock's top button center",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Click the smooth black alarm-clock's top center button using the left arm.",
+    "Tap the center button on the lightweight plastic alarm-clock.",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges.",
+    "the left arm activates the small alarm-clock by clicking the top button",
+    "Press the compact alarm-clock's top button using the left arm"
+  ],
+  "unseen": [
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode21.json b/click_alarmclock/demo_diverse/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..d64c58ba1efdd2641e8c04e116b2135b7546ed8b
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the top center button of the clock with white dial",
+    "Guide the right arm to press the centered button on the square plastic alarm clock.",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Press the top button at the rounded square-shaped alarm clock's center.",
+    "Point the right arm to press the button of the palm-sized dark blue clock.",
+    "Tap the clock with black hands's top button with the right arm",
+    "Press the center top button of the blue clock with green stripe",
+    "Use the right arm to press the square alarm clock's top center button.",
+    "Use the right arm to click the top center button on the small plastic alarm clock.",
+    "the right arm activates the blue clock with green stripe by clicking the top button",
+    "Direct the right arm to click the button found on the rounded square-shaped alarm clock.",
+    "Press the center top button on the clock with black hands with the right arm",
+    "the right arm presses the center top button on the square plastic alarm clock",
+    "Hit the center of the white-faced alarm clock's top button",
+    "Click the center button on the alarm clock with green stripe's top side.",
+    "Use the right arm to press the square plastic alarm clock button",
+    "Use the right arm to click the center button on the blue clock with green stripe",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Push the button on the clock with black hands's top center.",
+    "Use the right arm to tap the rounded square-shaped alarm clock's central button.",
+    "Use the right arm to press the palm-sized dark blue clock's top button",
+    "Ensure the right arm clicks the top center button of the small clock with rounded edges",
+    "Use the right arm to press the central button on the small plastic alarm clock.",
+    "Push the top button on the clock with white dial",
+    "Use the right arm to click the top of the square plastic alarm clock",
+    "Activate the dark blue clock by pressing its top",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Press the top middle button of the rounded square-shaped alarm clock",
+    "Use the right arm to press the center top of the clock with black hands",
+    "Click the square plastic alarm clock's top center button using the right arm.",
+    "Press the button on the white-faced alarm clock's top side",
+    "Use the right arm to tap the square alarm clock's top button center",
+    "Press the top button in the small clock with rounded edges's center.",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Use the right arm to activate the clock with black hands's button",
+    "Activate the clock with black hands by clicking its top button",
+    "Click the middle button on the square alarm clock's top side",
+    "Use the right arm to tap the square alarm clock's top center button.",
+    "Push the top button of the small clock with rounded edges using the right arm",
+    "Tap the center button on the square plastic alarm clock.",
+    "Push the central button on the clock with black hands's top side.",
+    "Activate the palm-sized dark blue clock by pressing the top button",
+    "Tap the button at the palm-sized dark blue clock's top center.",
+    "Touch the clock with black hands's center top button with the right arm",
+    "Touch the clock with white dial's button on the top side.",
+    "Press the center button on the dark blue clock's top.",
+    "Press the square plastic alarm clock's top button using the right arm",
+    "Click the center of the clock with white dial's top",
+    "Click the top center button of the alarm clock with green stripe",
+    "Guide the right arm to press the centered button on the rounded square-shaped alarm clock.",
+    "the right arm clicks the center top button on the white-faced alarm clock",
+    "Press the top button at the clock with black hands's center.",
+    "Point the right arm to press the button of the small plastic alarm clock.",
+    "Tap the alarm clock with green stripe's top button with the right arm",
+    "Press the center top button of the white-faced alarm clock",
+    "Use the right arm to press the white-faced alarm clock's top center button.",
+    "Use the right arm to click the top center button on the dark blue clock.",
+    "the right arm activates the white-faced alarm clock by clicking the top button",
+    "Direct the right arm to click the button found on the palm-sized dark blue clock.",
+    "Press the center top button on the small clock with rounded edges with the right arm",
+    "the right arm presses the center top button on the square plastic alarm clock",
+    "Hit the center of the clock with white dial's top button",
+    "Click the center button on the palm-sized dark blue clock's top side.",
+    "Use the right arm to press the rounded square-shaped alarm clock button",
+    "Use the right arm to click the center button on the square plastic alarm clock",
+    "Click the button centered on the square plastic alarm clock.",
+    "Push the button on the square plastic alarm clock's top center.",
+    "Use the right arm to tap the palm-sized dark blue clock's central button.",
+    "Use the right arm to press the clock with white dial's top button",
+    "Ensure the right arm clicks the top center button of the clock with white dial",
+    "Use the right arm to press the central button on the blue clock with green stripe.",
+    "Push the top button on the clock with black hands",
+    "Use the right arm to click the top of the small clock with rounded edges",
+    "Activate the clock with black hands by pressing its top",
+    "Push the center area of the square alarm clock's top",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Press the top middle button of the blue clock with green stripe",
+    "Use the right arm to press the center top of the rounded square-shaped alarm clock",
+    "Click the small clock with rounded edges's top center button using the right arm.",
+    "Press the button on the blue clock with green stripe's top side",
+    "Use the right arm to tap the square plastic alarm clock's top button center",
+    "Press the top button in the clock with black hands's center.",
+    "Click the button centered on the small clock with rounded edges's top.",
+    "Locate and press the top button on the small clock with rounded edges",
+    "Use the right arm to activate the square alarm clock's button",
+    "Activate the white-faced alarm clock by clicking its top button",
+    "Click the middle button on the small clock with rounded edges's top side",
+    "Use the right arm to tap the square alarm clock's top center button.",
+    "Push the top button of the alarm clock with green stripe using the right arm",
+    "Tap the center button on the white-faced alarm clock.",
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Activate the square alarm clock by pressing the top button",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Touch the white-faced alarm clock's center top button with the right arm",
+    "Touch the clock with black hands's button on the top side.",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Press the square plastic alarm clock's top button using the right arm",
+    "Click the center of the clock with black hands's top"
+  ],
+  "unseen": [
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode22.json b/click_alarmclock/demo_diverse/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccd6c809286b512937d97309307a5011c971ac76
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to press the alarm-clock with rounded edges button",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Locate and press the top button on the black matte alarm-clock",
+    "the right arm presses the center top button on the alarm-clock with buttons on side",
+    "Click the black matte alarm-clock's top center button using the right arm.",
+    "Click the top center button of the alarm-clock with buttons on side",
+    "Use the right arm to press the central button on the alarm-clock with digital display.",
+    "Use the right arm to press the alarm-clock with rounded edges's top center button.",
+    "Tap the center button on the alarm-clock with rounded edges.",
+    "Press the smooth black alarm-clock's top button using the right arm",
+    "Press the center top button on the black alarm-clock with the right arm",
+    "Activate the smooth black alarm-clock by pressing the top button",
+    "the right arm activates the alarm-clock with digital display by clicking the top button",
+    "Direct the right arm to click the button found on the digital screen alarm-clock.",
+    "Press the button on the black alarm-clock's top side",
+    "Press the top button in the digital screen alarm-clock's center.",
+    "Touch the black alarm-clock's center top button with the right arm",
+    "Use the right arm to tap the black alarm-clock's central button.",
+    "Push the center area of the compact alarm-clock's top",
+    "Use the right arm to click the top center button on the palm-sized alarm-clock.",
+    "Guide the right arm to press the centered button on the alarm-clock with buttons on side.",
+    "Tap the compact alarm-clock's top button with the right arm",
+    "Tap the button at the alarm-clock with buttons on side's top center.",
+    "Activate the digital screen alarm-clock by pressing its top",
+    "Click the center of the alarm-clock with digital display's top",
+    "Use the right arm to press the small alarm-clock's top button",
+    "Point the right arm to press the button of the small alarm-clock.",
+    "Use the right arm to activate the black alarm-clock's button",
+    "Press the center button on the smooth black alarm-clock's top.",
+    "Click the button centered on the black matte alarm-clock.",
+    "Locate and press the alarm-clock with rounded edges's top center button",
+    "the right arm clicks the center top button on the smooth black alarm-clock",
+    "Touch the small alarm-clock's button on the top side.",
+    "Hit the center of the palm-sized alarm-clock's top button",
+    "Push the central button on the compact alarm-clock's top side.",
+    "Press the top button at the palm-sized alarm-clock's center.",
+    "Ensure the right arm clicks the top center button of the rectangular alarm-clock",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "Use the right arm to click the center button on the rectangular alarm-clock",
+    "Use the right arm to click the top of the compact alarm-clock",
+    "Use the right arm to press the center top of the alarm-clock with rounded edges",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Push the top button of the smooth black alarm-clock using the right arm",
+    "Use the right arm to tap the black matte alarm-clock's top button center",
+    "Use the right arm to tap the small alarm-clock's top center button.",
+    "Press the top middle button of the rectangular alarm-clock",
+    "Press the center top button of the black alarm-clock",
+    "Push the top button on the alarm-clock with digital display",
+    "Use the right arm to press the compact alarm-clock button",
+    "Click the middle button on the small alarm-clock's top side",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Locate and press the top button on the alarm-clock with buttons on side",
+    "the right arm presses the center top button on the lightweight plastic alarm-clock",
+    "Click the rectangular alarm-clock's top center button using the right arm.",
+    "Click the top center button of the compact alarm-clock",
+    "Use the right arm to press the central button on the small alarm-clock.",
+    "Use the right arm to press the black matte alarm-clock's top center button.",
+    "Tap the center button on the black alarm-clock.",
+    "Press the smooth black alarm-clock's top button using the right arm",
+    "Press the center top button on the alarm-clock with digital display with the right arm",
+    "Activate the compact alarm-clock by pressing the top button",
+    "the right arm activates the lightweight plastic alarm-clock by clicking the top button",
+    "Direct the right arm to click the button found on the small alarm-clock.",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Press the top button in the palm-sized alarm-clock's center.",
+    "Touch the alarm-clock with rounded edges's center top button with the right arm",
+    "Use the right arm to tap the alarm-clock with rounded edges's central button.",
+    "Push the center area of the rectangular alarm-clock's top",
+    "Use the right arm to click the top center button on the alarm-clock with buttons on side.",
+    "Guide the right arm to press the centered button on the alarm-clock with buttons on side.",
+    "Tap the black alarm-clock's top button with the right arm",
+    "Tap the button at the lightweight plastic alarm-clock's top center.",
+    "Activate the rectangular alarm-clock by pressing its top",
+    "Click the center of the small alarm-clock's top",
+    "Use the right arm to press the black matte alarm-clock's top button",
+    "Point the right arm to press the button of the smooth black alarm-clock.",
+    "Use the right arm to activate the rectangular alarm-clock's button",
+    "Press the center button on the alarm-clock with rounded edges's top.",
+    "Click the button centered on the alarm-clock with digital display.",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "the right arm clicks the center top button on the smooth black alarm-clock",
+    "Touch the alarm-clock with digital display's button on the top side.",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Push the central button on the alarm-clock with rounded edges's top side.",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "Ensure the right arm clicks the top center button of the digital screen alarm-clock",
+    "Click the center button on the palm-sized alarm-clock's top side.",
+    "Use the right arm to click the center button on the alarm-clock with buttons on side",
+    "Use the right arm to click the top of the black alarm-clock",
+    "Use the right arm to press the center top of the lightweight plastic alarm-clock",
+    "Click the button centered on the black matte alarm-clock's top.",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Push the top button of the alarm-clock with digital display using the right arm",
+    "Use the right arm to tap the smooth black alarm-clock's top button center",
+    "Use the right arm to tap the black matte alarm-clock's top center button.",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Press the center top button of the black alarm-clock",
+    "Push the top button on the smooth black alarm-clock"
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode23.json b/click_alarmclock/demo_diverse/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..7913f25998e56cb6b4faae8d71519b9e387f14cd
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the right arm clicks the center top button on the alarm-clock with buttons on side",
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Push the center area of the rectangular alarm-clock's top",
+    "Use the right arm to tap the palm-sized alarm-clock's top center button.",
+    "Tap the button at the smooth black alarm-clock's top center.",
+    "Tap the alarm-clock with buttons on side's top button with the right arm",
+    "Press the center top button on the alarm-clock with buttons on side with the right arm",
+    "Press the top middle button of the black alarm-clock",
+    "Press the button on the lightweight plastic alarm-clock's top side",
+    "Touch the black alarm-clock's button on the top side.",
+    "Push the top button of the black alarm-clock using the right arm",
+    "Guide the right arm to press the centered button on the digital screen alarm-clock.",
+    "Push the top button on the small alarm-clock",
+    "Activate the smooth black alarm-clock by pressing the top button",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "the right arm presses the center top button on the small alarm-clock",
+    "Locate and press the top button on the compact alarm-clock",
+    "Use the right arm to press the black alarm-clock's top center button.",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Ensure the right arm clicks the top center button of the small alarm-clock",
+    "Use the right arm to activate the digital screen alarm-clock's button",
+    "Touch the small alarm-clock's center top button with the right arm",
+    "Click the top center button of the smooth black alarm-clock",
+    "Tap the center button on the digital screen alarm-clock.",
+    "Click the button centered on the alarm-clock with rounded edges's top.",
+    "Use the right arm to tap the alarm-clock with buttons on side's top button center",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Direct the right arm to click the button found on the palm-sized alarm-clock.",
+    "Activate the black alarm-clock by clicking its top button",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Use the right arm to click the top center button on the alarm-clock with buttons on side.",
+    "Point the right arm to press the button of the alarm-clock with buttons on side.",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Click the button centered on the compact alarm-clock.",
+    "Use the right arm to press the center top of the black matte alarm-clock",
+    "Locate and press the alarm-clock with digital display's top center button",
+    "Push the button on the alarm-clock with buttons on side's top center.",
+    "Use the right arm to press the alarm-clock with digital display's top button",
+    "the right arm activates the palm-sized alarm-clock by clicking the top button",
+    "Use the right arm to tap the black alarm-clock's central button.",
+    "Press the palm-sized alarm-clock's top button using the right arm",
+    "Activate the rectangular alarm-clock by pressing its top",
+    "Click the middle button on the small alarm-clock's top side",
+    "Use the right arm to press the central button on the smooth black alarm-clock.",
+    "Use the right arm to press the small alarm-clock button",
+    "Press the center button on the black alarm-clock's top.",
+    "Click the alarm-clock with rounded edges's top center button using the right arm.",
+    "Use the right arm to click the center button on the small alarm-clock",
+    "Use the right arm to click the top of the palm-sized alarm-clock",
+    "the right arm clicks the center top button on the palm-sized alarm-clock",
+    "Push the central button on the alarm-clock with rounded edges's top side.",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Tap the button at the small alarm-clock's top center.",
+    "Tap the small alarm-clock's top button with the right arm",
+    "Press the center top button on the small alarm-clock with the right arm",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Press the button on the digital screen alarm-clock's top side",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Push the top button of the black matte alarm-clock using the right arm",
+    "Guide the right arm to press the centered button on the alarm-clock with rounded edges.",
+    "Push the top button on the rectangular alarm-clock",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Click the center of the rectangular alarm-clock's top",
+    "the right arm presses the center top button on the smooth black alarm-clock",
+    "Locate and press the top button on the black alarm-clock",
+    "Use the right arm to press the lightweight plastic alarm-clock's top center button.",
+    "Press the top button at the black alarm-clock's center.",
+    "Press the center top button of the alarm-clock with buttons on side",
+    "Ensure the right arm clicks the top center button of the lightweight plastic alarm-clock",
+    "Use the right arm to activate the palm-sized alarm-clock's button",
+    "Touch the lightweight plastic alarm-clock's center top button with the right arm",
+    "Click the top center button of the rectangular alarm-clock",
+    "Tap the center button on the black matte alarm-clock.",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Use the right arm to tap the alarm-clock with rounded edges's top button center",
+    "Click the center button on the alarm-clock with rounded edges's top side.",
+    "Direct the right arm to click the button found on the black matte alarm-clock.",
+    "Activate the alarm-clock with digital display by clicking its top button",
+    "Press the top button in the digital screen alarm-clock's center.",
+    "Use the right arm to click the top center button on the alarm-clock with rounded edges.",
+    "Point the right arm to press the button of the small alarm-clock.",
+    "Hit the center of the black alarm-clock's top button",
+    "Click the button centered on the smooth black alarm-clock.",
+    "Use the right arm to press the center top of the lightweight plastic alarm-clock",
+    "Locate and press the black alarm-clock's top center button",
+    "Push the button on the black matte alarm-clock's top center.",
+    "Use the right arm to press the alarm-clock with rounded edges's top button",
+    "the right arm activates the palm-sized alarm-clock by clicking the top button",
+    "Use the right arm to tap the alarm-clock with buttons on side's central button.",
+    "Press the digital screen alarm-clock's top button using the right arm",
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "Click the middle button on the alarm-clock with buttons on side's top side",
+    "Use the right arm to press the central button on the digital screen alarm-clock.",
+    "Use the right arm to press the black matte alarm-clock button",
+    "Press the center button on the alarm-clock with rounded edges's top.",
+    "Click the compact alarm-clock's top center button using the right arm.",
+    "Use the right arm to click the center button on the small alarm-clock",
+    "Use the right arm to click the top of the lightweight plastic alarm-clock"
+  ],
+  "unseen": [
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode24.json b/click_alarmclock/demo_diverse/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..76dfd5b77abf89a999217c3f67cf66e0782cac67
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to press the small alarm-clock's top button",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "Use the left arm to click the top of the small alarm-clock",
+    "Point the left arm to press the button of the lightweight plastic alarm-clock.",
+    "Use the left arm to click the center button on the compact alarm-clock",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Push the top button of the lightweight plastic alarm-clock using the left arm",
+    "Tap the alarm-clock with buttons on side's top button with the left arm",
+    "Use the left arm to tap the black matte alarm-clock's central button.",
+    "Press the top button in the digital screen alarm-clock's center.",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Push the button on the alarm-clock with buttons on side's top center.",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Use the left arm to click the top center button on the black alarm-clock.",
+    "Use the left arm to press the lightweight plastic alarm-clock's top center button.",
+    "Push the top button on the alarm-clock with rounded edges",
+    "Press the center top button of the smooth black alarm-clock",
+    "Ensure the left arm clicks the top center button of the lightweight plastic alarm-clock",
+    "Use the left arm to press the rectangular alarm-clock button",
+    "Activate the black alarm-clock by pressing its top",
+    "Push the center area of the black matte alarm-clock's top",
+    "Locate and press the top button on the alarm-clock with rounded edges",
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Press the center top button on the alarm-clock with buttons on side with the left arm",
+    "Touch the alarm-clock with buttons on side's button on the top side.",
+    "Guide the left arm to press the centered button on the digital screen alarm-clock.",
+    "Use the left arm to press the central button on the black matte alarm-clock.",
+    "Press the center button on the small alarm-clock's top.",
+    "Click the center of the smooth black alarm-clock's top",
+    "Hit the center of the rectangular alarm-clock's top button",
+    "Use the left arm to press the center top of the rectangular alarm-clock",
+    "Press the small alarm-clock's top button using the left arm",
+    "Click the top center button of the compact alarm-clock",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Touch the palm-sized alarm-clock's center top button with the left arm",
+    "the left arm presses the center top button on the palm-sized alarm-clock",
+    "Click the middle button on the alarm-clock with buttons on side's top side",
+    "Press the button on the small alarm-clock's top side",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Direct the left arm to click the button found on the smooth black alarm-clock.",
+    "the left arm activates the smooth black alarm-clock by clicking the top button",
+    "Use the left arm to activate the black alarm-clock's button",
+    "Click the compact alarm-clock's top center button using the left arm.",
+    "Press the top middle button of the black alarm-clock",
+    "Tap the center button on the alarm-clock with rounded edges.",
+    "Use the left arm to tap the black matte alarm-clock's top button center",
+    "Click the button centered on the alarm-clock with digital display.",
+    "Click the center button on the digital screen alarm-clock's top side.",
+    "the left arm clicks the center top button on the palm-sized alarm-clock",
+    "Use the left arm to press the compact alarm-clock's top button",
+    "Locate and press the lightweight plastic alarm-clock's top center button",
+    "Use the left arm to click the top of the black matte alarm-clock",
+    "Point the left arm to press the button of the alarm-clock with buttons on side.",
+    "Use the left arm to click the center button on the digital screen alarm-clock",
+    "Activate the alarm-clock with rounded edges by clicking its top button",
+    "Push the top button of the smooth black alarm-clock using the left arm",
+    "Tap the alarm-clock with buttons on side's top button with the left arm",
+    "Use the left arm to tap the compact alarm-clock's central button.",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Press the top button at the alarm-clock with buttons on side's center.",
+    "Use the left arm to tap the black alarm-clock's top center button.",
+    "Push the button on the black matte alarm-clock's top center.",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Use the left arm to click the top center button on the compact alarm-clock.",
+    "Use the left arm to press the digital screen alarm-clock's top center button.",
+    "Push the top button on the alarm-clock with buttons on side",
+    "Press the center top button of the smooth black alarm-clock",
+    "Ensure the left arm clicks the top center button of the alarm-clock with buttons on side",
+    "Use the left arm to press the palm-sized alarm-clock button",
+    "Activate the lightweight plastic alarm-clock by pressing its top",
+    "Push the center area of the alarm-clock with buttons on side's top",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Click the button centered on the alarm-clock with rounded edges's top.",
+    "Press the center top button on the alarm-clock with buttons on side with the left arm",
+    "Touch the smooth black alarm-clock's button on the top side.",
+    "Guide the left arm to press the centered button on the compact alarm-clock.",
+    "Use the left arm to press the central button on the palm-sized alarm-clock.",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Click the center of the alarm-clock with digital display's top",
+    "Hit the center of the alarm-clock with rounded edges's top button",
+    "Use the left arm to press the center top of the lightweight plastic alarm-clock",
+    "Press the black alarm-clock's top button using the left arm",
+    "Click the top center button of the compact alarm-clock",
+    "Tap the button at the smooth black alarm-clock's top center.",
+    "Touch the alarm-clock with digital display's center top button with the left arm",
+    "the left arm presses the center top button on the black matte alarm-clock",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Press the button on the rectangular alarm-clock's top side",
+    "Push the central button on the alarm-clock with rounded edges's top side.",
+    "Direct the left arm to click the button found on the rectangular alarm-clock.",
+    "the left arm activates the alarm-clock with rounded edges by clicking the top button",
+    "Use the left arm to activate the small alarm-clock's button",
+    "Click the black alarm-clock's top center button using the left arm.",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Tap the center button on the black matte alarm-clock.",
+    "Use the left arm to tap the small alarm-clock's top button center",
+    "Click the button centered on the alarm-clock with digital display.",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "the left arm clicks the center top button on the palm-sized alarm-clock"
+  ],
+  "unseen": [
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode26.json b/click_alarmclock/demo_diverse/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..47841d87d031edd7f9917c3889f5277cc7879109
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the top button in the small plastic alarm clock's center.",
+    "the left arm presses the center top button on the rounded square-shaped alarm clock",
+    "Press the blue clock with green stripe's top button using the left arm",
+    "Push the top button on the palm-sized dark blue clock",
+    "Use the left arm to press the small plastic alarm clock's top center button.",
+    "Click the top center button of the small plastic alarm clock",
+    "Point the left arm to press the button of the small plastic alarm clock.",
+    "Click the clock with white dial's top center button using the left arm.",
+    "Touch the small plastic alarm clock's button on the top side.",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "Click the center of the small clock with rounded edges's top",
+    "Locate and press the top button on the alarm clock with green stripe",
+    "Use the left arm to press the center top of the dark blue clock",
+    "the left arm clicks the center top button on the clock with white dial",
+    "Touch the palm-sized dark blue clock's center top button with the left arm",
+    "Activate the square alarm clock by pressing its top",
+    "Use the left arm to tap the white-faced alarm clock's top center button.",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "Use the left arm to press the white-faced alarm clock button",
+    "Tap the square plastic alarm clock's top button with the left arm",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Click the button centered on the white-faced alarm clock.",
+    "Tap the center button on the square alarm clock.",
+    "Use the left arm to press the central button on the small clock with rounded edges.",
+    "Click the middle button on the clock with white dial's top side",
+    "Press the center top button of the clock with white dial",
+    "Push the central button on the alarm clock with green stripe's top side.",
+    "Click the button centered on the square plastic alarm clock's top.",
+    "Direct the left arm to click the button found on the white-faced alarm clock.",
+    "Use the left arm to activate the square plastic alarm clock's button",
+    "Push the top button of the dark blue clock using the left arm",
+    "Press the top middle button of the square alarm clock",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Use the left arm to click the top center button on the square plastic alarm clock.",
+    "Activate the clock with white dial by pressing the top button",
+    "Press the center top button on the blue clock with green stripe with the left arm",
+    "Push the button on the alarm clock with green stripe's top center.",
+    "Use the left arm to press the clock with white dial's top button",
+    "Tap the button at the blue clock with green stripe's top center.",
+    "Use the left arm to click the top of the square plastic alarm clock",
+    "Use the left arm to click the center button on the small plastic alarm clock",
+    "Ensure the left arm clicks the top center button of the square alarm clock",
+    "Locate and press the clock with black hands's top center button",
+    "Press the top button at the blue clock with green stripe's center.",
+    "Guide the left arm to press the centered button on the white-faced alarm clock.",
+    "the left arm activates the rounded square-shaped alarm clock by clicking the top button",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Use the left arm to tap the clock with white dial's top button center",
+    "Use the left arm to tap the clock with black hands's central button.",
+    "Press the button on the square plastic alarm clock's top side",
+    "Press the top button in the square alarm clock's center.",
+    "the left arm presses the center top button on the palm-sized dark blue clock",
+    "Press the square plastic alarm clock's top button using the left arm",
+    "Push the top button on the alarm clock with green stripe",
+    "Use the left arm to press the small plastic alarm clock's top center button.",
+    "Click the top center button of the white-faced alarm clock",
+    "Point the left arm to press the button of the palm-sized dark blue clock.",
+    "Click the square alarm clock's top center button using the left arm.",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Push the center area of the square plastic alarm clock's top",
+    "Click the center of the dark blue clock's top",
+    "Locate and press the top button on the clock with white dial",
+    "Use the left arm to press the center top of the white-faced alarm clock",
+    "the left arm clicks the center top button on the dark blue clock",
+    "Touch the palm-sized dark blue clock's center top button with the left arm",
+    "Activate the square alarm clock by pressing its top",
+    "Use the left arm to tap the alarm clock with green stripe's top center button.",
+    "Click the center button on the alarm clock with green stripe's top side.",
+    "Use the left arm to press the clock with white dial button",
+    "Tap the square alarm clock's top button with the left arm",
+    "Activate the square alarm clock by clicking its top button",
+    "Click the button centered on the small clock with rounded edges.",
+    "Tap the center button on the rounded square-shaped alarm clock.",
+    "Use the left arm to press the central button on the square plastic alarm clock.",
+    "Click the middle button on the blue clock with green stripe's top side",
+    "Press the center top button of the clock with white dial",
+    "Push the central button on the alarm clock with green stripe's top side.",
+    "Click the button centered on the rounded square-shaped alarm clock's top.",
+    "Direct the left arm to click the button found on the small plastic alarm clock.",
+    "Use the left arm to activate the small clock with rounded edges's button",
+    "Push the top button of the alarm clock with green stripe using the left arm",
+    "Press the top middle button of the rounded square-shaped alarm clock",
+    "Press the center button on the palm-sized dark blue clock's top.",
+    "Use the left arm to click the top center button on the clock with white dial.",
+    "Activate the blue clock with green stripe by pressing the top button",
+    "Press the center top button on the square plastic alarm clock with the left arm",
+    "Push the button on the square alarm clock's top center.",
+    "Use the left arm to press the square plastic alarm clock's top button",
+    "Tap the button at the palm-sized dark blue clock's top center.",
+    "Use the left arm to click the top of the rounded square-shaped alarm clock",
+    "Use the left arm to click the center button on the clock with white dial",
+    "Ensure the left arm clicks the top center button of the blue clock with green stripe",
+    "Locate and press the dark blue clock's top center button",
+    "Press the top button at the clock with white dial's center.",
+    "Guide the left arm to press the centered button on the dark blue clock.",
+    "the left arm activates the clock with white dial by clicking the top button",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Use the left arm to tap the square plastic alarm clock's top button center",
+    "Use the left arm to tap the alarm clock with green stripe's central button.",
+    "Press the button on the square plastic alarm clock's top side"
+  ],
+  "unseen": [
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode27.json b/click_alarmclock/demo_diverse/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..b898b6cb1499c7ba8dd98b82091c9a157b4991d3
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hit the center of the square plastic alarm clock's top button",
+    "Touch the small plastic alarm clock's button on the top side.",
+    "Point the right arm to press the button of the square plastic alarm clock.",
+    "Use the right arm to tap the palm-sized dark blue clock's central button.",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Touch the alarm clock with green stripe's center top button with the right arm",
+    "Press the palm-sized dark blue clock's top button using the right arm",
+    "Activate the clock with black hands by clicking its top button",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Press the top middle button of the dark blue clock",
+    "Click the clock with black hands's top center button using the right arm.",
+    "Use the right arm to press the small plastic alarm clock button",
+    "Guide the right arm to press the centered button on the small clock with rounded edges.",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Press the center top button of the alarm clock with green stripe",
+    "Locate and press the top button on the clock with white dial",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top button center",
+    "the right arm activates the alarm clock with green stripe by clicking the top button",
+    "Ensure the right arm clicks the top center button of the clock with black hands",
+    "Press the center top button on the palm-sized dark blue clock with the right arm",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "Press the button on the small plastic alarm clock's top side",
+    "Use the right arm to click the top of the dark blue clock",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Activate the small plastic alarm clock by pressing the top button",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Locate and press the clock with white dial's top center button",
+    "Click the center button on the white-faced alarm clock's top side.",
+    "Push the center area of the small clock with rounded edges's top",
+    "Use the right arm to activate the square alarm clock's button",
+    "Click the button centered on the alarm clock with green stripe.",
+    "Use the right arm to click the top center button on the blue clock with green stripe.",
+    "Press the top button at the white-faced alarm clock's center.",
+    "Direct the right arm to click the button found on the rounded square-shaped alarm clock.",
+    "Press the top button in the square alarm clock's center.",
+    "Push the top button on the rounded square-shaped alarm clock",
+    "Push the top button of the clock with white dial using the right arm",
+    "Use the right arm to press the rounded square-shaped alarm clock's top center button.",
+    "Use the right arm to click the center button on the small plastic alarm clock",
+    "Tap the white-faced alarm clock's top button with the right arm",
+    "the right arm presses the center top button on the palm-sized dark blue clock",
+    "Click the center of the small plastic alarm clock's top",
+    "the right arm clicks the center top button on the alarm clock with green stripe",
+    "Use the right arm to press the central button on the square plastic alarm clock.",
+    "Tap the center button on the clock with white dial.",
+    "Click the top center button of the small clock with rounded edges",
+    "Use the right arm to press the white-faced alarm clock's top button",
+    "Use the right arm to press the center top of the square plastic alarm clock",
+    "Hit the center of the rounded square-shaped alarm clock's top button",
+    "Touch the alarm clock with green stripe's button on the top side.",
+    "Point the right arm to press the button of the dark blue clock.",
+    "Use the right arm to tap the small clock with rounded edges's central button.",
+    "Click the button centered on the alarm clock with green stripe's top.",
+    "Touch the dark blue clock's center top button with the right arm",
+    "Press the blue clock with green stripe's top button using the right arm",
+    "Activate the clock with white dial by clicking its top button",
+    "Tap the button at the dark blue clock's top center.",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Press the top middle button of the palm-sized dark blue clock",
+    "Click the square plastic alarm clock's top center button using the right arm.",
+    "Use the right arm to press the palm-sized dark blue clock button",
+    "Guide the right arm to press the centered button on the clock with white dial.",
+    "Push the button on the square alarm clock's top center.",
+    "Press the center top button of the small clock with rounded edges",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Activate the clock with white dial by pressing its top",
+    "Use the right arm to tap the small plastic alarm clock's top button center",
+    "the right arm activates the dark blue clock by clicking the top button",
+    "Ensure the right arm clicks the top center button of the square alarm clock",
+    "Press the center top button on the square alarm clock with the right arm",
+    "Click the middle button on the small clock with rounded edges's top side",
+    "Press the button on the small clock with rounded edges's top side",
+    "Use the right arm to click the top of the square plastic alarm clock",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Activate the alarm clock with green stripe by pressing the top button",
+    "Use the right arm to tap the small clock with rounded edges's top center button.",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Click the center button on the clock with white dial's top side.",
+    "Push the center area of the clock with black hands's top",
+    "Use the right arm to activate the small clock with rounded edges's button",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Use the right arm to click the top center button on the blue clock with green stripe.",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Direct the right arm to click the button found on the palm-sized dark blue clock.",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Push the top button on the rounded square-shaped alarm clock",
+    "Push the top button of the clock with white dial using the right arm",
+    "Use the right arm to press the blue clock with green stripe's top center button.",
+    "Use the right arm to click the center button on the square plastic alarm clock",
+    "Tap the rounded square-shaped alarm clock's top button with the right arm",
+    "the right arm presses the center top button on the blue clock with green stripe",
+    "Click the center of the blue clock with green stripe's top",
+    "the right arm clicks the center top button on the square plastic alarm clock",
+    "Use the right arm to press the central button on the white-faced alarm clock.",
+    "Tap the center button on the clock with white dial.",
+    "Click the top center button of the clock with white dial",
+    "Use the right arm to press the clock with black hands's top button",
+    "Use the right arm to press the center top of the rounded square-shaped alarm clock"
+  ],
+  "unseen": [
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode28.json b/click_alarmclock/demo_diverse/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e844157537b72fe7767029c2e6c7987cd098e25
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the center top button on the lightweight plastic alarm-clock with the left arm",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Tap the center button on the rectangular alarm-clock.",
+    "Press the center top button of the alarm-clock with buttons on side",
+    "Click the rectangular alarm-clock's top center button using the left arm.",
+    "Use the left arm to click the top of the rectangular alarm-clock",
+    "Guide the left arm to press the centered button on the black matte alarm-clock.",
+    "Point the left arm to press the button of the alarm-clock with buttons on side.",
+    "Push the top button of the alarm-clock with buttons on side using the left arm",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Use the left arm to click the center button on the rectangular alarm-clock",
+    "Use the left arm to click the top center button on the compact alarm-clock.",
+    "Push the central button on the small alarm-clock's top side.",
+    "Use the left arm to tap the small alarm-clock's central button.",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Locate and press the top button on the compact alarm-clock",
+    "Tap the alarm-clock with digital display's top button with the left arm",
+    "Click the button centered on the compact alarm-clock's top.",
+    "Ensure the left arm clicks the top center button of the compact alarm-clock",
+    "Click the center button on the palm-sized alarm-clock's top side.",
+    "Touch the alarm-clock with rounded edges's button on the top side.",
+    "Touch the alarm-clock with buttons on side's center top button with the left arm",
+    "Press the black matte alarm-clock's top button using the left arm",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "Use the left arm to press the central button on the smooth black alarm-clock.",
+    "Locate and press the compact alarm-clock's top center button",
+    "Click the center of the digital screen alarm-clock's top",
+    "Direct the left arm to click the button found on the black alarm-clock.",
+    "Press the center button on the black matte alarm-clock's top.",
+    "Activate the lightweight plastic alarm-clock by pressing its top",
+    "Use the left arm to press the black matte alarm-clock button",
+    "Push the button on the small alarm-clock's top center.",
+    "Use the left arm to tap the compact alarm-clock's top center button.",
+    "Use the left arm to press the compact alarm-clock's top button",
+    "the left arm presses the center top button on the lightweight plastic alarm-clock",
+    "Push the top button on the lightweight plastic alarm-clock",
+    "Use the left arm to activate the alarm-clock with rounded edges's button",
+    "the left arm activates the black alarm-clock by clicking the top button",
+    "Use the left arm to press the center top of the rectangular alarm-clock",
+    "Use the left arm to press the black matte alarm-clock's top center button.",
+    "Hit the center of the digital screen alarm-clock's top button",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "the left arm clicks the center top button on the palm-sized alarm-clock",
+    "Activate the rectangular alarm-clock by clicking its top button",
+    "Use the left arm to tap the alarm-clock with buttons on side's top button center",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Press the center top button on the compact alarm-clock with the left arm",
+    "Press the top middle button of the black alarm-clock",
+    "Tap the center button on the smooth black alarm-clock.",
+    "Press the center top button of the digital screen alarm-clock",
+    "Click the digital screen alarm-clock's top center button using the left arm.",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "Guide the left arm to press the centered button on the lightweight plastic alarm-clock.",
+    "Point the left arm to press the button of the smooth black alarm-clock.",
+    "Push the top button of the black alarm-clock using the left arm",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Press the top button at the small alarm-clock's center.",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Click the middle button on the alarm-clock with digital display's top side",
+    "Use the left arm to click the center button on the lightweight plastic alarm-clock",
+    "Use the left arm to click the top center button on the black alarm-clock.",
+    "Push the central button on the black alarm-clock's top side.",
+    "Use the left arm to tap the small alarm-clock's central button.",
+    "Press the button on the black alarm-clock's top side",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Tap the alarm-clock with digital display's top button with the left arm",
+    "Click the button centered on the alarm-clock with buttons on side's top.",
+    "Ensure the left arm clicks the top center button of the compact alarm-clock",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Touch the alarm-clock with rounded edges's button on the top side.",
+    "Touch the black matte alarm-clock's center top button with the left arm",
+    "Press the lightweight plastic alarm-clock's top button using the left arm",
+    "Click the button centered on the compact alarm-clock.",
+    "Use the left arm to press the central button on the lightweight plastic alarm-clock.",
+    "Locate and press the black matte alarm-clock's top center button",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Direct the left arm to click the button found on the lightweight plastic alarm-clock.",
+    "Press the center button on the palm-sized alarm-clock's top.",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Use the left arm to press the alarm-clock with buttons on side button",
+    "Push the button on the palm-sized alarm-clock's top center.",
+    "Use the left arm to tap the palm-sized alarm-clock's top center button.",
+    "Use the left arm to press the lightweight plastic alarm-clock's top button",
+    "the left arm presses the center top button on the smooth black alarm-clock",
+    "Push the top button on the small alarm-clock",
+    "Use the left arm to activate the rectangular alarm-clock's button",
+    "the left arm activates the small alarm-clock by clicking the top button",
+    "Use the left arm to press the center top of the small alarm-clock",
+    "Use the left arm to press the palm-sized alarm-clock's top center button.",
+    "Hit the center of the alarm-clock with buttons on side's top button",
+    "Press the top button in the palm-sized alarm-clock's center.",
+    "the left arm clicks the center top button on the black alarm-clock",
+    "Activate the palm-sized alarm-clock by clicking its top button",
+    "Use the left arm to tap the black alarm-clock's top button center",
+    "Push the center area of the rectangular alarm-clock's top",
+    "Click the top center button of the black matte alarm-clock"
+  ],
+  "unseen": [
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode29.json b/click_alarmclock/demo_diverse/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..701f8da86b7db17edcc67a316ca5cb4669a779f6
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Locate and press the top button on the black matte alarm-clock",
+    "Use the left arm to press the alarm-clock with rounded edges button",
+    "Push the center area of the black matte alarm-clock's top",
+    "Press the button on the black alarm-clock's top side",
+    "Press the rectangular alarm-clock's top button using the left arm",
+    "Click the button centered on the black matte alarm-clock's top.",
+    "Push the button on the smooth black alarm-clock's top center.",
+    "Use the left arm to tap the alarm-clock with digital display's top center button.",
+    "Activate the digital screen alarm-clock by pressing the top button",
+    "Press the top middle button of the alarm-clock with rounded edges",
+    "Use the left arm to click the top center button on the alarm-clock with buttons on side.",
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Hit the center of the black matte alarm-clock's top button",
+    "Activate the lightweight plastic alarm-clock by pressing its top",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "Tap the center button on the rectangular alarm-clock.",
+    "Touch the alarm-clock with rounded edges's center top button with the left arm",
+    "Touch the rectangular alarm-clock's button on the top side.",
+    "Press the top button in the black alarm-clock's center.",
+    "Activate the palm-sized alarm-clock by clicking its top button",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Direct the left arm to click the button found on the alarm-clock with digital display.",
+    "Use the left arm to press the small alarm-clock's top button",
+    "the left arm clicks the center top button on the smooth black alarm-clock",
+    "Tap the smooth black alarm-clock's top button with the left arm",
+    "Use the left arm to click the top of the smooth black alarm-clock",
+    "Use the left arm to press the smooth black alarm-clock's top center button.",
+    "Use the left arm to press the central button on the compact alarm-clock.",
+    "Use the left arm to press the center top of the compact alarm-clock",
+    "the left arm presses the center top button on the palm-sized alarm-clock",
+    "Click the top center button of the black alarm-clock",
+    "Use the left arm to tap the smooth black alarm-clock's central button.",
+    "Use the left arm to tap the smooth black alarm-clock's top button center",
+    "Ensure the left arm clicks the top center button of the smooth black alarm-clock",
+    "Tap the button at the alarm-clock with rounded edges's top center.",
+    "Click the alarm-clock with rounded edges's top center button using the left arm.",
+    "Use the left arm to activate the small alarm-clock's button",
+    "Push the top button on the smooth black alarm-clock",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Point the left arm to press the button of the black alarm-clock.",
+    "Press the center top button of the rectangular alarm-clock",
+    "Push the top button of the black matte alarm-clock using the left arm",
+    "Press the center top button on the alarm-clock with digital display with the left arm",
+    "Click the middle button on the palm-sized alarm-clock's top side",
+    "Guide the left arm to press the centered button on the black alarm-clock.",
+    "Use the left arm to click the center button on the lightweight plastic alarm-clock",
+    "the left arm activates the compact alarm-clock by clicking the top button",
+    "Click the center of the palm-sized alarm-clock's top",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "Locate and press the top button on the compact alarm-clock",
+    "Use the left arm to press the small alarm-clock button",
+    "Push the center area of the lightweight plastic alarm-clock's top",
+    "Press the button on the lightweight plastic alarm-clock's top side",
+    "Press the digital screen alarm-clock's top button using the left arm",
+    "Click the button centered on the rectangular alarm-clock's top.",
+    "Push the button on the palm-sized alarm-clock's top center.",
+    "Use the left arm to tap the digital screen alarm-clock's top center button.",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Use the left arm to click the top center button on the black alarm-clock.",
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Hit the center of the black alarm-clock's top button",
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "Tap the center button on the small alarm-clock.",
+    "Touch the palm-sized alarm-clock's center top button with the left arm",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Press the top button in the alarm-clock with buttons on side's center.",
+    "Activate the alarm-clock with rounded edges by clicking its top button",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Direct the left arm to click the button found on the palm-sized alarm-clock.",
+    "Use the left arm to press the rectangular alarm-clock's top button",
+    "the left arm clicks the center top button on the digital screen alarm-clock",
+    "Tap the alarm-clock with rounded edges's top button with the left arm",
+    "Use the left arm to click the top of the alarm-clock with buttons on side",
+    "Use the left arm to press the rectangular alarm-clock's top center button.",
+    "Use the left arm to press the central button on the black matte alarm-clock.",
+    "Use the left arm to press the center top of the alarm-clock with rounded edges",
+    "the left arm presses the center top button on the black alarm-clock",
+    "Click the top center button of the smooth black alarm-clock",
+    "Use the left arm to tap the rectangular alarm-clock's central button.",
+    "Use the left arm to tap the rectangular alarm-clock's top button center",
+    "Ensure the left arm clicks the top center button of the palm-sized alarm-clock",
+    "Tap the button at the black alarm-clock's top center.",
+    "Click the digital screen alarm-clock's top center button using the left arm.",
+    "Use the left arm to activate the black matte alarm-clock's button",
+    "Push the top button on the small alarm-clock",
+    "Locate and press the lightweight plastic alarm-clock's top center button",
+    "Point the left arm to press the button of the small alarm-clock.",
+    "Press the center top button of the digital screen alarm-clock",
+    "Push the top button of the small alarm-clock using the left arm",
+    "Press the center top button on the black matte alarm-clock with the left arm",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Guide the left arm to press the centered button on the black alarm-clock.",
+    "Use the left arm to click the center button on the alarm-clock with digital display",
+    "the left arm activates the compact alarm-clock by clicking the top button",
+    "Click the center of the black alarm-clock's top",
+    "Click the button centered on the alarm-clock with buttons on side."
+  ],
+  "unseen": [
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with beige screen"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode3.json b/click_alarmclock/demo_diverse/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..846bdf9d540f6ae7ab731b1a15112b16392ccf72
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to click the top center button on the dark blue clock.",
+    "Use the left arm to tap the blue clock with green stripe's top button center",
+    "Tap the center button on the square alarm clock.",
+    "Use the left arm to press the square plastic alarm clock button",
+    "the left arm presses the center top button on the square plastic alarm clock",
+    "Press the top button in the small clock with rounded edges's center.",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "Direct the left arm to click the button found on the clock with black hands.",
+    "Push the top button on the rounded square-shaped alarm clock",
+    "Guide the left arm to press the centered button on the palm-sized dark blue clock.",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Click the palm-sized dark blue clock's top center button using the left arm.",
+    "Use the left arm to press the alarm clock with green stripe's top center button.",
+    "Press the center top button on the rounded square-shaped alarm clock with the left arm",
+    "Locate and press the top button on the white-faced alarm clock",
+    "Tap the alarm clock with green stripe's top button with the left arm",
+    "Touch the clock with black hands's center top button with the left arm",
+    "Ensure the left arm clicks the top center button of the square alarm clock",
+    "Use the left arm to tap the alarm clock with green stripe's central button.",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "the left arm clicks the center top button on the alarm clock with green stripe",
+    "Press the square alarm clock's top button using the left arm",
+    "Press the top middle button of the small clock with rounded edges",
+    "Use the left arm to click the top of the clock with white dial",
+    "Push the top button of the blue clock with green stripe using the left arm",
+    "Press the center top button of the clock with black hands",
+    "Click the center of the rounded square-shaped alarm clock's top",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Use the left arm to click the center button on the palm-sized dark blue clock",
+    "Click the top center button of the palm-sized dark blue clock",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Point the left arm to press the button of the white-faced alarm clock.",
+    "Use the left arm to activate the white-faced alarm clock's button",
+    "Use the left arm to press the dark blue clock's top button",
+    "Touch the alarm clock with green stripe's button on the top side.",
+    "Tap the button at the white-faced alarm clock's top center.",
+    "Click the middle button on the small plastic alarm clock's top side",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Click the center button on the alarm clock with green stripe's top side.",
+    "Press the button on the small clock with rounded edges's top side",
+    "the left arm activates the white-faced alarm clock by clicking the top button",
+    "Use the left arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Use the left arm to press the center top of the dark blue clock",
+    "Use the left arm to press the central button on the square plastic alarm clock.",
+    "Click the button centered on the small clock with rounded edges's top.",
+    "Click the button centered on the square plastic alarm clock.",
+    "Use the left arm to click the top center button on the small clock with rounded edges.",
+    "Use the left arm to tap the clock with white dial's top button center",
+    "Tap the center button on the dark blue clock.",
+    "Use the left arm to press the dark blue clock button",
+    "the left arm presses the center top button on the clock with black hands",
+    "Press the top button in the palm-sized dark blue clock's center.",
+    "Activate the small clock with rounded edges by pressing the top button",
+    "Direct the left arm to click the button found on the clock with white dial.",
+    "Push the top button on the square plastic alarm clock",
+    "Guide the left arm to press the centered button on the small clock with rounded edges.",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Click the palm-sized dark blue clock's top center button using the left arm.",
+    "Use the left arm to press the alarm clock with green stripe's top center button.",
+    "Press the center top button on the clock with black hands with the left arm",
+    "Locate and press the top button on the square plastic alarm clock",
+    "Tap the blue clock with green stripe's top button with the left arm",
+    "Touch the white-faced alarm clock's center top button with the left arm",
+    "Ensure the left arm clicks the top center button of the small plastic alarm clock",
+    "Use the left arm to tap the square alarm clock's central button.",
+    "Press the top button at the square alarm clock's center.",
+    "the left arm clicks the center top button on the square alarm clock",
+    "Press the palm-sized dark blue clock's top button using the left arm",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Use the left arm to click the top of the rounded square-shaped alarm clock",
+    "Push the top button of the clock with white dial using the left arm",
+    "Press the center top button of the palm-sized dark blue clock",
+    "Click the center of the clock with black hands's top",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "Use the left arm to click the center button on the white-faced alarm clock",
+    "Click the top center button of the palm-sized dark blue clock",
+    "Hit the center of the white-faced alarm clock's top button",
+    "Point the left arm to press the button of the small clock with rounded edges.",
+    "Use the left arm to activate the square plastic alarm clock's button",
+    "Use the left arm to press the square plastic alarm clock's top button",
+    "Touch the blue clock with green stripe's button on the top side.",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "Click the middle button on the alarm clock with green stripe's top side",
+    "Locate and press the palm-sized dark blue clock's top center button",
+    "Push the central button on the palm-sized dark blue clock's top side.",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "Press the button on the white-faced alarm clock's top side",
+    "the left arm activates the clock with black hands by clicking the top button",
+    "Use the left arm to tap the small clock with rounded edges's top center button.",
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Push the button on the white-faced alarm clock's top center.",
+    "Use the left arm to press the center top of the square alarm clock",
+    "Use the left arm to press the central button on the small plastic alarm clock.",
+    "Click the button centered on the alarm clock with green stripe's top.",
+    "Click the button centered on the clock with white dial."
+  ],
+  "unseen": [
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode30.json b/click_alarmclock/demo_diverse/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ad3c40b75b1417bb568b2c81a45ffa5fc46cd6d
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the top button of the alarm-clock with rounded edges using the left arm",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Use the left arm to press the central button on the black matte alarm-clock.",
+    "Click the button centered on the alarm-clock with digital display's top.",
+    "Hit the center of the compact alarm-clock's top button",
+    "Point the left arm to press the button of the alarm-clock with digital display.",
+    "Touch the alarm-clock with digital display's center top button with the left arm",
+    "Use the left arm to tap the compact alarm-clock's central button.",
+    "Press the button on the lightweight plastic alarm-clock's top side",
+    "Use the left arm to press the small alarm-clock's top button",
+    "Tap the center button on the small alarm-clock.",
+    "the left arm clicks the center top button on the compact alarm-clock",
+    "Click the center button on the digital screen alarm-clock's top side.",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Activate the alarm-clock with buttons on side by pressing its top",
+    "Click the middle button on the lightweight plastic alarm-clock's top side",
+    "Click the top center button of the alarm-clock with digital display",
+    "Activate the smooth black alarm-clock by pressing the top button",
+    "Push the button on the digital screen alarm-clock's top center.",
+    "Press the top middle button of the small alarm-clock",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Press the center top button of the alarm-clock with rounded edges",
+    "Press the center button on the compact alarm-clock's top.",
+    "Press the top button in the black alarm-clock's center.",
+    "the left arm presses the center top button on the alarm-clock with buttons on side",
+    "Tap the digital screen alarm-clock's top button with the left arm",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Use the left arm to tap the smooth black alarm-clock's top center button.",
+    "Ensure the left arm clicks the top center button of the compact alarm-clock",
+    "Press the center top button on the digital screen alarm-clock with the left arm",
+    "Guide the left arm to press the centered button on the alarm-clock with digital display.",
+    "the left arm activates the compact alarm-clock by clicking the top button",
+    "Use the left arm to press the center top of the small alarm-clock",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "Tap the button at the alarm-clock with digital display's top center.",
+    "Push the top button on the rectangular alarm-clock",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Touch the digital screen alarm-clock's button on the top side.",
+    "Click the smooth black alarm-clock's top center button using the left arm.",
+    "Use the left arm to press the palm-sized alarm-clock's top center button.",
+    "Use the left arm to activate the black alarm-clock's button",
+    "Use the left arm to tap the rectangular alarm-clock's top button center",
+    "Direct the left arm to click the button found on the alarm-clock with rounded edges.",
+    "Press the smooth black alarm-clock's top button using the left arm",
+    "Use the left arm to press the lightweight plastic alarm-clock button",
+    "Use the left arm to click the center button on the black alarm-clock",
+    "Press the top button at the alarm-clock with buttons on side's center.",
+    "Locate and press the top button on the alarm-clock with buttons on side",
+    "Push the top button of the lightweight plastic alarm-clock using the left arm",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "Use the left arm to press the central button on the black matte alarm-clock.",
+    "Click the button centered on the compact alarm-clock's top.",
+    "Hit the center of the compact alarm-clock's top button",
+    "Point the left arm to press the button of the smooth black alarm-clock.",
+    "Touch the small alarm-clock's center top button with the left arm",
+    "Use the left arm to tap the black alarm-clock's central button.",
+    "Press the button on the alarm-clock with digital display's top side",
+    "Use the left arm to press the alarm-clock with digital display's top button",
+    "Tap the center button on the alarm-clock with rounded edges.",
+    "the left arm clicks the center top button on the compact alarm-clock",
+    "Click the center button on the digital screen alarm-clock's top side.",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Push the central button on the rectangular alarm-clock's top side.",
+    "Activate the compact alarm-clock by pressing its top",
+    "Click the middle button on the digital screen alarm-clock's top side",
+    "Click the top center button of the alarm-clock with rounded edges",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Push the button on the smooth black alarm-clock's top center.",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Locate and press the alarm-clock with rounded edges's top center button",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Press the center button on the alarm-clock with buttons on side's top.",
+    "Press the top button in the black matte alarm-clock's center.",
+    "the left arm presses the center top button on the smooth black alarm-clock",
+    "Tap the lightweight plastic alarm-clock's top button with the left arm",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Use the left arm to tap the digital screen alarm-clock's top center button.",
+    "Ensure the left arm clicks the top center button of the alarm-clock with rounded edges",
+    "Press the center top button on the small alarm-clock with the left arm",
+    "Guide the left arm to press the centered button on the lightweight plastic alarm-clock.",
+    "the left arm activates the lightweight plastic alarm-clock by clicking the top button",
+    "Use the left arm to press the center top of the black alarm-clock",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "Tap the button at the alarm-clock with digital display's top center.",
+    "Push the top button on the rectangular alarm-clock",
+    "Click the button centered on the alarm-clock with rounded edges.",
+    "Click the center of the small alarm-clock's top",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "Click the palm-sized alarm-clock's top center button using the left arm.",
+    "Use the left arm to press the digital screen alarm-clock's top center button.",
+    "Use the left arm to activate the alarm-clock with rounded edges's button",
+    "Use the left arm to tap the digital screen alarm-clock's top button center",
+    "Direct the left arm to click the button found on the alarm-clock with buttons on side.",
+    "Press the rectangular alarm-clock's top button using the left arm",
+    "Use the left arm to press the alarm-clock with buttons on side button",
+    "Use the left arm to click the center button on the small alarm-clock",
+    "Press the top button at the lightweight plastic alarm-clock's center.",
+    "Locate and press the top button on the digital screen alarm-clock"
+  ],
+  "unseen": [
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode33.json b/click_alarmclock/demo_diverse/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a61dc0d7908f4c073623dc806e48a669ab7eb1e
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the left arm to click the button found on the rectangular alarm-clock.",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Use the left arm to press the compact alarm-clock's top button",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Press the top button at the alarm-clock with rounded edges's center.",
+    "Use the left arm to tap the rectangular alarm-clock's top center button.",
+    "Press the top button in the small alarm-clock's center.",
+    "Push the center area of the lightweight plastic alarm-clock's top",
+    "Use the left arm to click the center button on the alarm-clock with buttons on side",
+    "Click the center of the alarm-clock with rounded edges's top",
+    "Click the top center button of the alarm-clock with buttons on side",
+    "the left arm presses the center top button on the palm-sized alarm-clock",
+    "Use the left arm to activate the alarm-clock with digital display's button",
+    "Click the palm-sized alarm-clock's top center button using the left arm.",
+    "Use the left arm to press the small alarm-clock's top center button.",
+    "Press the center button on the palm-sized alarm-clock's top.",
+    "Ensure the left arm clicks the top center button of the black matte alarm-clock",
+    "the left arm clicks the center top button on the palm-sized alarm-clock",
+    "Click the middle button on the digital screen alarm-clock's top side",
+    "Use the left arm to click the top center button on the smooth black alarm-clock.",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Use the left arm to press the digital screen alarm-clock button",
+    "Press the center top button of the digital screen alarm-clock",
+    "Use the left arm to tap the alarm-clock with rounded edges's top button center",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Press the center top button on the rectangular alarm-clock with the left arm",
+    "Use the left arm to tap the lightweight plastic alarm-clock's central button.",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Click the button centered on the compact alarm-clock.",
+    "Press the top middle button of the compact alarm-clock",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Use the left arm to click the top of the alarm-clock with buttons on side",
+    "Push the top button on the digital screen alarm-clock",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Use the left arm to press the center top of the alarm-clock with digital display",
+    "Press the digital screen alarm-clock's top button using the left arm",
+    "Guide the left arm to press the centered button on the small alarm-clock.",
+    "Push the button on the palm-sized alarm-clock's top center.",
+    "Hit the center of the black alarm-clock's top button",
+    "Use the left arm to press the central button on the lightweight plastic alarm-clock.",
+    "Press the button on the black alarm-clock's top side",
+    "Point the left arm to press the button of the smooth black alarm-clock.",
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Touch the alarm-clock with buttons on side's center top button with the left arm",
+    "Tap the center button on the smooth black alarm-clock.",
+    "Push the top button of the palm-sized alarm-clock using the left arm",
+    "the left arm activates the digital screen alarm-clock by clicking the top button",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "Locate and press the compact alarm-clock's top center button",
+    "Tap the compact alarm-clock's top button with the left arm",
+    "Direct the left arm to click the button found on the rectangular alarm-clock.",
+    "Touch the rectangular alarm-clock's button on the top side.",
+    "Use the left arm to press the digital screen alarm-clock's top button",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "Use the left arm to tap the alarm-clock with digital display's top center button.",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "Use the left arm to click the center button on the black matte alarm-clock",
+    "Click the center of the palm-sized alarm-clock's top",
+    "Click the top center button of the black alarm-clock",
+    "the left arm presses the center top button on the palm-sized alarm-clock",
+    "Use the left arm to activate the alarm-clock with digital display's button",
+    "Click the black matte alarm-clock's top center button using the left arm.",
+    "Use the left arm to press the lightweight plastic alarm-clock's top center button.",
+    "Press the center button on the alarm-clock with buttons on side's top.",
+    "Ensure the left arm clicks the top center button of the smooth black alarm-clock",
+    "the left arm clicks the center top button on the alarm-clock with buttons on side",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Use the left arm to click the top center button on the small alarm-clock.",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Use the left arm to press the compact alarm-clock button",
+    "Press the center top button of the alarm-clock with buttons on side",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top button center",
+    "Locate and press the top button on the alarm-clock with digital display",
+    "Press the center top button on the digital screen alarm-clock with the left arm",
+    "Use the left arm to tap the alarm-clock with buttons on side's central button.",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Click the button centered on the alarm-clock with digital display.",
+    "Press the top middle button of the small alarm-clock",
+    "Activate the rectangular alarm-clock by pressing its top",
+    "Use the left arm to click the top of the rectangular alarm-clock",
+    "Push the top button on the alarm-clock with digital display",
+    "Activate the digital screen alarm-clock by clicking its top button",
+    "Use the left arm to press the center top of the lightweight plastic alarm-clock",
+    "Press the smooth black alarm-clock's top button using the left arm",
+    "Guide the left arm to press the centered button on the rectangular alarm-clock.",
+    "Push the button on the small alarm-clock's top center.",
+    "Hit the center of the alarm-clock with digital display's top button",
+    "Use the left arm to press the central button on the palm-sized alarm-clock.",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Point the left arm to press the button of the alarm-clock with rounded edges.",
+    "Click the button centered on the rectangular alarm-clock's top.",
+    "Touch the black alarm-clock's center top button with the left arm",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Push the top button of the black matte alarm-clock using the left arm",
+    "the left arm activates the alarm-clock with digital display by clicking the top button",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Locate and press the black alarm-clock's top center button",
+    "Tap the black alarm-clock's top button with the left arm"
+  ],
+  "unseen": [
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode35.json b/click_alarmclock/demo_diverse/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..643a7c6a0187253de8bae4a6b7017c0742c4d0b3
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the palm-sized alarm-clock's top center button using the right arm.",
+    "Ensure the right arm clicks the top center button of the alarm-clock with buttons on side",
+    "Tap the button at the alarm-clock with digital display's top center.",
+    "the right arm clicks the center top button on the black alarm-clock",
+    "Activate the digital screen alarm-clock by clicking its top button",
+    "Push the center area of the alarm-clock with rounded edges's top",
+    "Press the center button on the black alarm-clock's top.",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Hit the center of the black alarm-clock's top button",
+    "Click the button centered on the black alarm-clock's top.",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Push the button on the alarm-clock with digital display's top center.",
+    "Guide the right arm to press the centered button on the black matte alarm-clock.",
+    "Press the button on the rectangular alarm-clock's top side",
+    "Touch the alarm-clock with digital display's button on the top side.",
+    "Use the right arm to tap the palm-sized alarm-clock's top center button.",
+    "the right arm activates the rectangular alarm-clock by clicking the top button",
+    "Use the right arm to press the central button on the alarm-clock with digital display.",
+    "Press the center top button of the smooth black alarm-clock",
+    "Push the central button on the black alarm-clock's top side.",
+    "Activate the rectangular alarm-clock by pressing its top",
+    "Press the palm-sized alarm-clock's top button using the right arm",
+    "Use the right arm to click the top of the compact alarm-clock",
+    "Use the right arm to press the center top of the digital screen alarm-clock",
+    "Locate and press the compact alarm-clock's top center button",
+    "Press the top button in the digital screen alarm-clock's center.",
+    "Use the right arm to tap the rectangular alarm-clock's central button.",
+    "the right arm presses the center top button on the palm-sized alarm-clock",
+    "Push the top button on the small alarm-clock",
+    "Use the right arm to click the top center button on the black matte alarm-clock.",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Click the center button on the small alarm-clock's top side.",
+    "Locate and press the top button on the smooth black alarm-clock",
+    "Use the right arm to press the smooth black alarm-clock's top center button.",
+    "Use the right arm to tap the alarm-clock with buttons on side's top button center",
+    "Use the right arm to press the alarm-clock with digital display button",
+    "Use the right arm to press the digital screen alarm-clock's top button",
+    "Touch the black alarm-clock's center top button with the right arm",
+    "Tap the center button on the small alarm-clock.",
+    "Tap the black alarm-clock's top button with the right arm",
+    "Click the button centered on the black matte alarm-clock.",
+    "Direct the right arm to click the button found on the lightweight plastic alarm-clock.",
+    "Point the right arm to press the button of the smooth black alarm-clock.",
+    "Click the center of the compact alarm-clock's top",
+    "Push the top button of the smooth black alarm-clock using the right arm",
+    "Use the right arm to activate the digital screen alarm-clock's button",
+    "Press the top button at the black alarm-clock's center.",
+    "Click the top center button of the alarm-clock with digital display",
+    "Use the right arm to click the center button on the smooth black alarm-clock",
+    "Press the center top button on the black alarm-clock with the right arm",
+    "Click the lightweight plastic alarm-clock's top center button using the right arm.",
+    "Ensure the right arm clicks the top center button of the palm-sized alarm-clock",
+    "Tap the button at the alarm-clock with buttons on side's top center.",
+    "the right arm clicks the center top button on the alarm-clock with digital display",
+    "Activate the small alarm-clock by clicking its top button",
+    "Push the center area of the rectangular alarm-clock's top",
+    "Press the center button on the digital screen alarm-clock's top.",
+    "Press the top middle button of the compact alarm-clock",
+    "Hit the center of the alarm-clock with digital display's top button",
+    "Click the button centered on the compact alarm-clock's top.",
+    "Activate the rectangular alarm-clock by pressing the top button",
+    "Push the button on the rectangular alarm-clock's top center.",
+    "Guide the right arm to press the centered button on the lightweight plastic alarm-clock.",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Touch the alarm-clock with buttons on side's button on the top side.",
+    "Use the right arm to tap the small alarm-clock's top center button.",
+    "the right arm activates the digital screen alarm-clock by clicking the top button",
+    "Use the right arm to press the central button on the alarm-clock with rounded edges.",
+    "Press the center top button of the compact alarm-clock",
+    "Push the central button on the lightweight plastic alarm-clock's top side.",
+    "Activate the alarm-clock with rounded edges by pressing its top",
+    "Press the lightweight plastic alarm-clock's top button using the right arm",
+    "Use the right arm to click the top of the alarm-clock with rounded edges",
+    "Use the right arm to press the center top of the palm-sized alarm-clock",
+    "Locate and press the black alarm-clock's top center button",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Use the right arm to tap the small alarm-clock's central button.",
+    "the right arm presses the center top button on the alarm-clock with digital display",
+    "Push the top button on the black matte alarm-clock",
+    "Use the right arm to click the top center button on the compact alarm-clock.",
+    "Click the middle button on the alarm-clock with digital display's top side",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Use the right arm to press the alarm-clock with rounded edges's top center button.",
+    "Use the right arm to tap the smooth black alarm-clock's top button center",
+    "Use the right arm to press the rectangular alarm-clock button",
+    "Use the right arm to press the alarm-clock with digital display's top button",
+    "Touch the compact alarm-clock's center top button with the right arm",
+    "Tap the center button on the smooth black alarm-clock.",
+    "Tap the black alarm-clock's top button with the right arm",
+    "Click the button centered on the black alarm-clock.",
+    "Direct the right arm to click the button found on the rectangular alarm-clock.",
+    "Point the right arm to press the button of the alarm-clock with buttons on side.",
+    "Click the center of the alarm-clock with digital display's top",
+    "Push the top button of the black alarm-clock using the right arm",
+    "Use the right arm to activate the digital screen alarm-clock's button",
+    "Press the top button at the rectangular alarm-clock's center.",
+    "Click the top center button of the small alarm-clock",
+    "Use the right arm to click the center button on the lightweight plastic alarm-clock",
+    "Press the center top button on the palm-sized alarm-clock with the right arm"
+  ],
+  "unseen": [
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode36.json b/click_alarmclock/demo_diverse/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..980232e9b1f0cb91d85f7b47ec64557443800027
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to press the square alarm clock's top button",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Ensure the left arm clicks the top center button of the clock with black hands",
+    "Click the middle button on the dark blue clock's top side",
+    "Press the alarm clock with green stripe's top button using the left arm",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Tap the dark blue clock's top button with the left arm",
+    "Push the center area of the square plastic alarm clock's top",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Press the top button in the square alarm clock's center.",
+    "Use the left arm to press the clock with white dial's top center button.",
+    "Touch the square alarm clock's button on the top side.",
+    "Press the top button at the blue clock with green stripe's center.",
+    "Use the left arm to tap the palm-sized dark blue clock's top center button.",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Point the left arm to press the button of the clock with white dial.",
+    "Use the left arm to press the center top of the rounded square-shaped alarm clock",
+    "the left arm activates the dark blue clock by clicking the top button",
+    "Activate the white-faced alarm clock by clicking its top button",
+    "Press the top middle button of the square plastic alarm clock",
+    "Press the center top button on the clock with black hands with the left arm",
+    "Push the top button on the blue clock with green stripe",
+    "the left arm clicks the center top button on the square alarm clock",
+    "Press the button on the rounded square-shaped alarm clock's top side",
+    "Press the center top button of the clock with black hands",
+    "Guide the left arm to press the centered button on the alarm clock with green stripe.",
+    "Use the left arm to press the square plastic alarm clock button",
+    "Hit the center of the square plastic alarm clock's top button",
+    "Use the left arm to tap the alarm clock with green stripe's central button.",
+    "Click the button centered on the small plastic alarm clock.",
+    "Push the top button of the small plastic alarm clock using the left arm",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Touch the square plastic alarm clock's center top button with the left arm",
+    "Click the center button on the small clock with rounded edges's top side.",
+    "Tap the center button on the dark blue clock.",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Push the central button on the white-faced alarm clock's top side.",
+    "Click the top center button of the dark blue clock",
+    "Use the left arm to press the central button on the rounded square-shaped alarm clock.",
+    "Click the center of the palm-sized dark blue clock's top",
+    "Use the left arm to activate the small plastic alarm clock's button",
+    "Use the left arm to click the top center button on the blue clock with green stripe.",
+    "Click the rounded square-shaped alarm clock's top center button using the left arm.",
+    "Push the button on the clock with black hands's top center.",
+    "Use the left arm to tap the palm-sized dark blue clock's top button center",
+    "Use the left arm to click the center button on the clock with white dial",
+    "the left arm presses the center top button on the square alarm clock",
+    "Direct the left arm to click the button found on the square alarm clock.",
+    "Use the left arm to click the top of the square alarm clock",
+    "Use the left arm to press the square plastic alarm clock's top button",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Ensure the left arm clicks the top center button of the clock with white dial",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "Press the palm-sized dark blue clock's top button using the left arm",
+    "Activate the small clock with rounded edges by pressing its top",
+    "Tap the rounded square-shaped alarm clock's top button with the left arm",
+    "Push the center area of the blue clock with green stripe's top",
+    "Locate and press the blue clock with green stripe's top center button",
+    "Press the top button in the square alarm clock's center.",
+    "Use the left arm to press the dark blue clock's top center button.",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Press the top button at the small plastic alarm clock's center.",
+    "Use the left arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Point the left arm to press the button of the small clock with rounded edges.",
+    "Use the left arm to press the center top of the dark blue clock",
+    "the left arm activates the blue clock with green stripe by clicking the top button",
+    "Activate the blue clock with green stripe by clicking its top button",
+    "Press the top middle button of the blue clock with green stripe",
+    "Press the center top button on the white-faced alarm clock with the left arm",
+    "Push the top button on the clock with black hands",
+    "the left arm clicks the center top button on the blue clock with green stripe",
+    "Press the button on the palm-sized dark blue clock's top side",
+    "Press the center top button of the rounded square-shaped alarm clock",
+    "Guide the left arm to press the centered button on the blue clock with green stripe.",
+    "Use the left arm to press the square alarm clock button",
+    "Hit the center of the alarm clock with green stripe's top button",
+    "Use the left arm to tap the small clock with rounded edges's central button.",
+    "Click the button centered on the dark blue clock.",
+    "Push the top button of the small plastic alarm clock using the left arm",
+    "Activate the blue clock with green stripe by pressing the top button",
+    "Tap the button at the palm-sized dark blue clock's top center.",
+    "Touch the square alarm clock's center top button with the left arm",
+    "Click the center button on the clock with black hands's top side.",
+    "Tap the center button on the blue clock with green stripe.",
+    "Press the center button on the dark blue clock's top.",
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Click the top center button of the square plastic alarm clock",
+    "Use the left arm to press the central button on the blue clock with green stripe.",
+    "Click the center of the square plastic alarm clock's top",
+    "Use the left arm to activate the small clock with rounded edges's button",
+    "Use the left arm to click the top center button on the square plastic alarm clock.",
+    "Click the white-faced alarm clock's top center button using the left arm.",
+    "Push the button on the white-faced alarm clock's top center.",
+    "Use the left arm to tap the square alarm clock's top button center",
+    "Use the left arm to click the center button on the clock with white dial",
+    "the left arm presses the center top button on the small plastic alarm clock",
+    "Direct the left arm to click the button found on the white-faced alarm clock.",
+    "Use the left arm to click the top of the clock with black hands"
+  ],
+  "unseen": [
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode38.json b/click_alarmclock/demo_diverse/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..8746415d444d5ea2d469cbfedcdedd7576712907
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Push the top button on the black matte alarm-clock",
+    "Push the top button of the palm-sized alarm-clock using the left arm",
+    "Press the top middle button of the alarm-clock with rounded edges",
+    "the left arm clicks the center top button on the compact alarm-clock",
+    "Use the left arm to press the digital screen alarm-clock's top button",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "Use the left arm to press the center top of the lightweight plastic alarm-clock",
+    "Point the left arm to press the button of the alarm-clock with rounded edges.",
+    "Click the center of the palm-sized alarm-clock's top",
+    "Use the left arm to tap the black matte alarm-clock's top button center",
+    "Use the left arm to activate the small alarm-clock's button",
+    "Locate and press the alarm-clock with digital display's top center button",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Press the black matte alarm-clock's top button using the left arm",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Ensure the left arm clicks the top center button of the rectangular alarm-clock",
+    "Tap the smooth black alarm-clock's top button with the left arm",
+    "Use the left arm to tap the alarm-clock with buttons on side's top center button.",
+    "Click the top center button of the black matte alarm-clock",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Press the center top button of the alarm-clock with digital display",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Guide the left arm to press the centered button on the black alarm-clock.",
+    "the left arm activates the smooth black alarm-clock by clicking the top button",
+    "Push the button on the digital screen alarm-clock's top center.",
+    "Use the left arm to tap the smooth black alarm-clock's central button.",
+    "Activate the black alarm-clock by pressing its top",
+    "Press the top button at the smooth black alarm-clock's center.",
+    "Use the left arm to press the lightweight plastic alarm-clock's top center button.",
+    "Use the left arm to press the black matte alarm-clock button",
+    "the left arm presses the center top button on the alarm-clock with rounded edges",
+    "Locate and press the top button on the compact alarm-clock",
+    "Click the center button on the compact alarm-clock's top side.",
+    "Tap the center button on the lightweight plastic alarm-clock.",
+    "Use the left arm to click the top center button on the palm-sized alarm-clock.",
+    "Press the center top button on the black alarm-clock with the left arm",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Direct the left arm to click the button found on the smooth black alarm-clock.",
+    "Activate the digital screen alarm-clock by pressing the top button",
+    "Use the left arm to click the center button on the compact alarm-clock",
+    "Touch the small alarm-clock's center top button with the left arm",
+    "Press the center button on the palm-sized alarm-clock's top.",
+    "Click the smooth black alarm-clock's top center button using the left arm.",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Use the left arm to press the central button on the smooth black alarm-clock.",
+    "Click the button centered on the small alarm-clock's top.",
+    "Push the top button on the black matte alarm-clock",
+    "Push the top button of the lightweight plastic alarm-clock using the left arm",
+    "Press the top middle button of the compact alarm-clock",
+    "the left arm clicks the center top button on the digital screen alarm-clock",
+    "Use the left arm to press the small alarm-clock's top button",
+    "Use the left arm to click the top of the lightweight plastic alarm-clock",
+    "Use the left arm to press the center top of the black matte alarm-clock",
+    "Point the left arm to press the button of the rectangular alarm-clock.",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Use the left arm to tap the smooth black alarm-clock's top button center",
+    "Use the left arm to activate the palm-sized alarm-clock's button",
+    "Locate and press the alarm-clock with digital display's top center button",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "Press the black matte alarm-clock's top button using the left arm",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Ensure the left arm clicks the top center button of the smooth black alarm-clock",
+    "Tap the smooth black alarm-clock's top button with the left arm",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Click the top center button of the alarm-clock with rounded edges",
+    "Press the button on the small alarm-clock's top side",
+    "Press the top button in the alarm-clock with digital display's center.",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Press the center top button of the palm-sized alarm-clock",
+    "Click the button centered on the small alarm-clock.",
+    "Guide the left arm to press the centered button on the black matte alarm-clock.",
+    "the left arm activates the compact alarm-clock by clicking the top button",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "Use the left arm to tap the digital screen alarm-clock's central button.",
+    "Activate the black matte alarm-clock by pressing its top",
+    "Press the top button at the black alarm-clock's center.",
+    "Use the left arm to press the small alarm-clock's top center button.",
+    "Use the left arm to press the digital screen alarm-clock button",
+    "the left arm presses the center top button on the smooth black alarm-clock",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Click the center button on the small alarm-clock's top side.",
+    "Tap the center button on the rectangular alarm-clock.",
+    "Use the left arm to click the top center button on the lightweight plastic alarm-clock.",
+    "Press the center top button on the alarm-clock with rounded edges with the left arm",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Hit the center of the black matte alarm-clock's top button",
+    "Direct the left arm to click the button found on the small alarm-clock.",
+    "Activate the black alarm-clock by pressing the top button",
+    "Use the left arm to click the center button on the alarm-clock with buttons on side",
+    "Touch the alarm-clock with rounded edges's center top button with the left arm",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Click the small alarm-clock's top center button using the left arm.",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Push the center area of the black alarm-clock's top",
+    "Use the left arm to press the central button on the smooth black alarm-clock."
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode4.json b/click_alarmclock/demo_diverse/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..00c6f47cda2b7464521052151cf7bce32ad3a399
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to tap the alarm-clock with digital display's top button center",
+    "Click the button centered on the alarm-clock with buttons on side.",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Tap the lightweight plastic alarm-clock's top button with the left arm",
+    "the left arm clicks the center top button on the lightweight plastic alarm-clock",
+    "Direct the left arm to click the button found on the alarm-clock with buttons on side.",
+    "Point the left arm to press the button of the alarm-clock with buttons on side.",
+    "Press the center top button on the smooth black alarm-clock with the left arm",
+    "Press the top middle button of the compact alarm-clock",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "the left arm presses the center top button on the alarm-clock with buttons on side",
+    "Use the left arm to press the alarm-clock with buttons on side's top center button.",
+    "Click the middle button on the palm-sized alarm-clock's top side",
+    "Tap the button at the digital screen alarm-clock's top center.",
+    "Press the center button on the black matte alarm-clock's top.",
+    "Guide the left arm to press the centered button on the lightweight plastic alarm-clock.",
+    "Use the left arm to tap the digital screen alarm-clock's central button.",
+    "Use the left arm to click the top of the alarm-clock with buttons on side",
+    "Push the top button on the alarm-clock with rounded edges",
+    "Press the button on the compact alarm-clock's top side",
+    "Locate and press the small alarm-clock's top center button",
+    "Tap the center button on the black alarm-clock.",
+    "Use the left arm to click the center button on the compact alarm-clock",
+    "Press the center top button of the smooth black alarm-clock",
+    "Use the left arm to click the top center button on the alarm-clock with buttons on side.",
+    "Press the top button in the compact alarm-clock's center.",
+    "Use the left arm to tap the digital screen alarm-clock's top center button.",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Touch the compact alarm-clock's center top button with the left arm",
+    "Use the left arm to press the alarm-clock with rounded edges's top button",
+    "Activate the lightweight plastic alarm-clock by pressing its top",
+    "Click the center button on the lightweight plastic alarm-clock's top side.",
+    "Use the left arm to press the digital screen alarm-clock button",
+    "Click the top center button of the compact alarm-clock",
+    "Click the lightweight plastic alarm-clock's top center button using the left arm.",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Ensure the left arm clicks the top center button of the compact alarm-clock",
+    "Hit the center of the alarm-clock with rounded edges's top button",
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Locate and press the top button on the black matte alarm-clock",
+    "Push the top button of the alarm-clock with rounded edges using the left arm",
+    "Use the left arm to press the center top of the lightweight plastic alarm-clock",
+    "Press the lightweight plastic alarm-clock's top button using the left arm",
+    "Press the top button at the lightweight plastic alarm-clock's center.",
+    "Use the left arm to activate the smooth black alarm-clock's button",
+    "Activate the alarm-clock with buttons on side by pressing the top button",
+    "Push the button on the alarm-clock with digital display's top center.",
+    "the left arm activates the black matte alarm-clock by clicking the top button",
+    "Use the left arm to press the central button on the small alarm-clock.",
+    "Use the left arm to tap the alarm-clock with rounded edges's top button center",
+    "Click the button centered on the compact alarm-clock.",
+    "Touch the black alarm-clock's button on the top side.",
+    "Tap the palm-sized alarm-clock's top button with the left arm",
+    "the left arm clicks the center top button on the smooth black alarm-clock",
+    "Direct the left arm to click the button found on the small alarm-clock.",
+    "Point the left arm to press the button of the black alarm-clock.",
+    "Press the center top button on the alarm-clock with digital display with the left arm",
+    "Press the top middle button of the alarm-clock with rounded edges",
+    "Push the central button on the black matte alarm-clock's top side.",
+    "the left arm presses the center top button on the small alarm-clock",
+    "Use the left arm to press the rectangular alarm-clock's top center button.",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Tap the button at the black matte alarm-clock's top center.",
+    "Press the center button on the compact alarm-clock's top.",
+    "Guide the left arm to press the centered button on the small alarm-clock.",
+    "Use the left arm to tap the alarm-clock with rounded edges's central button.",
+    "Use the left arm to click the top of the alarm-clock with digital display",
+    "Push the top button on the alarm-clock with buttons on side",
+    "Press the button on the digital screen alarm-clock's top side",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "Tap the center button on the small alarm-clock.",
+    "Use the left arm to click the center button on the compact alarm-clock",
+    "Press the center top button of the palm-sized alarm-clock",
+    "Use the left arm to click the top center button on the lightweight plastic alarm-clock.",
+    "Press the top button in the compact alarm-clock's center.",
+    "Use the left arm to tap the alarm-clock with buttons on side's top center button.",
+    "Push the center area of the black alarm-clock's top",
+    "Touch the rectangular alarm-clock's center top button with the left arm",
+    "Use the left arm to press the palm-sized alarm-clock's top button",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Click the center button on the alarm-clock with rounded edges's top side.",
+    "Use the left arm to press the black alarm-clock button",
+    "Click the top center button of the alarm-clock with rounded edges",
+    "Click the rectangular alarm-clock's top center button using the left arm.",
+    "Activate the alarm-clock with rounded edges by clicking its top button",
+    "Click the center of the rectangular alarm-clock's top",
+    "Ensure the left arm clicks the top center button of the black alarm-clock",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Click the button centered on the alarm-clock with buttons on side's top.",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Push the top button of the black alarm-clock using the left arm",
+    "Use the left arm to press the center top of the black matte alarm-clock",
+    "Press the alarm-clock with rounded edges's top button using the left arm",
+    "Press the top button at the compact alarm-clock's center.",
+    "Use the left arm to activate the black matte alarm-clock's button",
+    "Activate the alarm-clock with buttons on side by pressing the top button",
+    "Push the button on the small alarm-clock's top center.",
+    "the left arm activates the rectangular alarm-clock by clicking the top button",
+    "Use the left arm to press the central button on the small alarm-clock."
+  ],
+  "unseen": [
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode40.json b/click_alarmclock/demo_diverse/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..02d9e4ba272f428e001afed2d5acb5a07da58798
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the clock with white dial by pressing its top",
+    "Click the top center button of the clock with white dial",
+    "Press the small plastic alarm clock's top button using the left arm",
+    "Press the center top button on the square plastic alarm clock with the left arm",
+    "Push the top button of the alarm clock with green stripe using the left arm",
+    "Touch the palm-sized dark blue clock's center top button with the left arm",
+    "Use the left arm to press the small clock with rounded edges's top center button.",
+    "Use the left arm to click the center button on the clock with white dial",
+    "Tap the clock with white dial's top button with the left arm",
+    "Push the central button on the palm-sized dark blue clock's top side.",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "Click the center of the clock with white dial's top",
+    "Use the left arm to press the center top of the small plastic alarm clock",
+    "Click the white-faced alarm clock's top center button using the left arm.",
+    "the left arm activates the dark blue clock by clicking the top button",
+    "Push the button on the blue clock with green stripe's top center.",
+    "Use the left arm to tap the clock with white dial's central button.",
+    "Ensure the left arm clicks the top center button of the square plastic alarm clock",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "Use the left arm to click the top of the clock with white dial",
+    "Click the button centered on the square alarm clock.",
+    "Use the left arm to press the blue clock with green stripe's top button",
+    "Point the left arm to press the button of the rounded square-shaped alarm clock.",
+    "Locate and press the top button on the white-faced alarm clock",
+    "Hit the center of the blue clock with green stripe's top button",
+    "the left arm clicks the center top button on the small clock with rounded edges",
+    "Use the left arm to tap the square plastic alarm clock's top button center",
+    "Guide the left arm to press the centered button on the white-faced alarm clock.",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "Use the left arm to press the central button on the clock with white dial.",
+    "Direct the left arm to click the button found on the rounded square-shaped alarm clock.",
+    "Use the left arm to tap the alarm clock with green stripe's top center button.",
+    "Press the button on the square alarm clock's top side",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Use the left arm to press the rounded square-shaped alarm clock button",
+    "Use the left arm to activate the small clock with rounded edges's button",
+    "Push the top button on the square alarm clock",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Press the center top button of the small plastic alarm clock",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "Touch the square plastic alarm clock's button on the top side.",
+    "the left arm presses the center top button on the rounded square-shaped alarm clock",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Tap the center button on the small clock with rounded edges.",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Use the left arm to click the top center button on the palm-sized dark blue clock.",
+    "Activate the dark blue clock by clicking its top button",
+    "Press the top middle button of the white-faced alarm clock",
+    "Click the button centered on the small clock with rounded edges's top.",
+    "Click the center button on the small clock with rounded edges's top side.",
+    "Activate the clock with black hands by pressing its top",
+    "Click the top center button of the square alarm clock",
+    "Press the small clock with rounded edges's top button using the left arm",
+    "Press the center top button on the blue clock with green stripe with the left arm",
+    "Push the top button of the rounded square-shaped alarm clock using the left arm",
+    "Touch the square plastic alarm clock's center top button with the left arm",
+    "Use the left arm to press the palm-sized dark blue clock's top center button.",
+    "Use the left arm to click the center button on the dark blue clock",
+    "Tap the rounded square-shaped alarm clock's top button with the left arm",
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Click the middle button on the blue clock with green stripe's top side",
+    "Click the center of the clock with black hands's top",
+    "Use the left arm to press the center top of the palm-sized dark blue clock",
+    "Click the alarm clock with green stripe's top center button using the left arm.",
+    "the left arm activates the square alarm clock by clicking the top button",
+    "Push the button on the small clock with rounded edges's top center.",
+    "Use the left arm to tap the blue clock with green stripe's central button.",
+    "Ensure the left arm clicks the top center button of the rounded square-shaped alarm clock",
+    "Press the top button at the small plastic alarm clock's center.",
+    "Use the left arm to click the top of the clock with black hands",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Use the left arm to press the blue clock with green stripe's top button",
+    "Point the left arm to press the button of the clock with white dial.",
+    "Locate and press the top button on the alarm clock with green stripe",
+    "Hit the center of the square plastic alarm clock's top button",
+    "the left arm clicks the center top button on the clock with white dial",
+    "Use the left arm to tap the small plastic alarm clock's top button center",
+    "Guide the left arm to press the centered button on the dark blue clock.",
+    "Activate the clock with white dial by pressing the top button",
+    "Use the left arm to press the central button on the blue clock with green stripe.",
+    "Direct the left arm to click the button found on the white-faced alarm clock.",
+    "Use the left arm to tap the clock with black hands's top center button.",
+    "Press the button on the square plastic alarm clock's top side",
+    "Push the center area of the blue clock with green stripe's top",
+    "Use the left arm to press the small clock with rounded edges button",
+    "Use the left arm to activate the alarm clock with green stripe's button",
+    "Push the top button on the square plastic alarm clock",
+    "Press the top button in the clock with white dial's center.",
+    "Press the center top button of the small plastic alarm clock",
+    "Tap the button at the dark blue clock's top center.",
+    "Touch the clock with white dial's button on the top side.",
+    "the left arm presses the center top button on the square alarm clock",
+    "Press the center button on the blue clock with green stripe's top.",
+    "Tap the center button on the small plastic alarm clock.",
+    "Locate and press the clock with white dial's top center button",
+    "Use the left arm to click the top center button on the clock with white dial.",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Press the top middle button of the small plastic alarm clock",
+    "Click the button centered on the clock with black hands's top.",
+    "Click the center button on the square plastic alarm clock's top side."
+  ],
+  "unseen": [
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the compact alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the blue alarm clock."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode41.json b/click_alarmclock/demo_diverse/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..213c81f5f9e3561fa51a5a893bd0c71632931270
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the alarm-clock with rounded edges's top center button using the left arm.",
+    "Press the top button in the alarm-clock with digital display's center.",
+    "Locate and press the top button on the black alarm-clock",
+    "Press the center top button on the digital screen alarm-clock with the left arm",
+    "Press the center button on the compact alarm-clock's top.",
+    "Direct the left arm to click the button found on the palm-sized alarm-clock.",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Use the left arm to activate the digital screen alarm-clock's button",
+    "the left arm presses the center top button on the alarm-clock with buttons on side",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Use the left arm to press the smooth black alarm-clock button",
+    "Use the left arm to click the top center button on the black matte alarm-clock.",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Click the top center button of the black matte alarm-clock",
+    "Use the left arm to press the central button on the digital screen alarm-clock.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Ensure the left arm clicks the top center button of the lightweight plastic alarm-clock",
+    "Tap the button at the alarm-clock with rounded edges's top center.",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Press the top button at the compact alarm-clock's center.",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "Use the left arm to press the compact alarm-clock's top button",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Push the button on the palm-sized alarm-clock's top center.",
+    "Use the left arm to press the compact alarm-clock's top center button.",
+    "Use the left arm to click the center button on the palm-sized alarm-clock",
+    "Point the left arm to press the button of the lightweight plastic alarm-clock.",
+    "Use the left arm to tap the alarm-clock with buttons on side's top center button.",
+    "Click the center of the alarm-clock with digital display's top",
+    "Click the button centered on the small alarm-clock's top.",
+    "Push the top button of the digital screen alarm-clock using the left arm",
+    "Press the black alarm-clock's top button using the left arm",
+    "Guide the left arm to press the centered button on the compact alarm-clock.",
+    "Use the left arm to tap the digital screen alarm-clock's top button center",
+    "Hit the center of the alarm-clock with rounded edges's top button",
+    "Use the left arm to click the top of the black matte alarm-clock",
+    "the left arm clicks the center top button on the alarm-clock with digital display",
+    "Press the button on the small alarm-clock's top side",
+    "the left arm activates the alarm-clock with rounded edges by clicking the top button",
+    "Click the button centered on the black alarm-clock.",
+    "Touch the alarm-clock with rounded edges's button on the top side.",
+    "Touch the black matte alarm-clock's center top button with the left arm",
+    "Click the center button on the alarm-clock with rounded edges's top side.",
+    "Activate the rectangular alarm-clock by clicking its top button",
+    "Use the left arm to press the center top of the lightweight plastic alarm-clock",
+    "Push the top button on the alarm-clock with rounded edges",
+    "Push the central button on the rectangular alarm-clock's top side.",
+    "Tap the lightweight plastic alarm-clock's top button with the left arm",
+    "Tap the center button on the alarm-clock with digital display.",
+    "Use the left arm to tap the alarm-clock with digital display's central button.",
+    "Click the small alarm-clock's top center button using the left arm.",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Locate and press the top button on the lightweight plastic alarm-clock",
+    "Press the center top button on the lightweight plastic alarm-clock with the left arm",
+    "Press the center button on the small alarm-clock's top.",
+    "Direct the left arm to click the button found on the small alarm-clock.",
+    "Press the top middle button of the alarm-clock with rounded edges",
+    "Use the left arm to activate the compact alarm-clock's button",
+    "the left arm presses the center top button on the alarm-clock with digital display",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Use the left arm to press the smooth black alarm-clock button",
+    "Use the left arm to click the top center button on the smooth black alarm-clock.",
+    "Click the middle button on the rectangular alarm-clock's top side",
+    "Click the top center button of the black matte alarm-clock",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges.",
+    "Activate the compact alarm-clock by pressing its top",
+    "Ensure the left arm clicks the top center button of the digital screen alarm-clock",
+    "Tap the button at the black alarm-clock's top center.",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Press the top button at the alarm-clock with buttons on side's center.",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "Use the left arm to press the alarm-clock with rounded edges's top button",
+    "Press the center top button of the alarm-clock with digital display",
+    "Push the button on the black matte alarm-clock's top center.",
+    "Use the left arm to press the small alarm-clock's top center button.",
+    "Use the left arm to click the center button on the lightweight plastic alarm-clock",
+    "Point the left arm to press the button of the digital screen alarm-clock.",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Click the center of the alarm-clock with rounded edges's top",
+    "Click the button centered on the alarm-clock with digital display's top.",
+    "Push the top button of the smooth black alarm-clock using the left arm",
+    "Press the digital screen alarm-clock's top button using the left arm",
+    "Guide the left arm to press the centered button on the small alarm-clock.",
+    "Use the left arm to tap the alarm-clock with digital display's top button center",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "the left arm clicks the center top button on the black matte alarm-clock",
+    "Press the button on the compact alarm-clock's top side",
+    "the left arm activates the digital screen alarm-clock by clicking the top button",
+    "Click the button centered on the smooth black alarm-clock.",
+    "Touch the small alarm-clock's button on the top side.",
+    "Touch the alarm-clock with digital display's center top button with the left arm",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "Activate the digital screen alarm-clock by clicking its top button",
+    "Use the left arm to press the center top of the smooth black alarm-clock",
+    "Push the top button on the smooth black alarm-clock",
+    "Push the central button on the compact alarm-clock's top side.",
+    "Tap the black alarm-clock's top button with the left arm",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Use the left arm to tap the black alarm-clock's central button."
+  ],
+  "unseen": [
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode42.json b/click_alarmclock/demo_diverse/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..682cf46f95bcfe7828f0c6a6ef71bd8b4c8b9f1d
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to press the smooth black alarm-clock button",
+    "Tap the button at the lightweight plastic alarm-clock's top center.",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Press the alarm-clock with buttons on side's top button using the right arm",
+    "Use the right arm to press the palm-sized alarm-clock's top center button.",
+    "Use the right arm to tap the alarm-clock with rounded edges's top center button.",
+    "Press the center top button on the digital screen alarm-clock with the right arm",
+    "Click the top center button of the black alarm-clock",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Use the right arm to click the center button on the black alarm-clock",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Press the center button on the black alarm-clock's top.",
+    "Use the right arm to press the alarm-clock with rounded edges's top button",
+    "Push the top button of the small alarm-clock using the right arm",
+    "Activate the small alarm-clock by pressing its top",
+    "Press the top button at the lightweight plastic alarm-clock's center.",
+    "Use the right arm to click the top of the alarm-clock with rounded edges",
+    "Locate and press the top button on the black alarm-clock",
+    "Click the center of the alarm-clock with rounded edges's top",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Point the right arm to press the button of the alarm-clock with rounded edges.",
+    "Click the button centered on the smooth black alarm-clock.",
+    "Use the right arm to activate the alarm-clock with digital display's button",
+    "Press the top middle button of the compact alarm-clock",
+    "Push the top button on the alarm-clock with buttons on side",
+    "Press the center top button of the alarm-clock with rounded edges",
+    "Click the palm-sized alarm-clock's top center button using the right arm.",
+    "Direct the right arm to click the button found on the rectangular alarm-clock.",
+    "the right arm clicks the center top button on the lightweight plastic alarm-clock",
+    "Activate the small alarm-clock by pressing the top button",
+    "Click the center button on the alarm-clock with buttons on side's top side.",
+    "Locate and press the black matte alarm-clock's top center button",
+    "Press the button on the compact alarm-clock's top side",
+    "Push the button on the rectangular alarm-clock's top center.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Touch the alarm-clock with rounded edges's center top button with the right arm",
+    "Use the right arm to click the top center button on the black alarm-clock.",
+    "Click the button centered on the alarm-clock with rounded edges's top.",
+    "Use the right arm to tap the digital screen alarm-clock's top button center",
+    "Tap the center button on the smooth black alarm-clock.",
+    "the right arm presses the center top button on the small alarm-clock",
+    "the right arm activates the smooth black alarm-clock by clicking the top button",
+    "Use the right arm to tap the small alarm-clock's central button.",
+    "Guide the right arm to press the centered button on the small alarm-clock.",
+    "Hit the center of the black alarm-clock's top button",
+    "Ensure the right arm clicks the top center button of the alarm-clock with digital display",
+    "Tap the black matte alarm-clock's top button with the right arm",
+    "Use the right arm to press the center top of the lightweight plastic alarm-clock",
+    "Use the right arm to press the central button on the alarm-clock with rounded edges.",
+    "Touch the compact alarm-clock's button on the top side.",
+    "Use the right arm to press the alarm-clock with digital display button",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Click the middle button on the alarm-clock with digital display's top side",
+    "Press the compact alarm-clock's top button using the right arm",
+    "Use the right arm to press the black alarm-clock's top center button.",
+    "Use the right arm to tap the alarm-clock with digital display's top center button.",
+    "Press the center top button on the digital screen alarm-clock with the right arm",
+    "Click the top center button of the alarm-clock with buttons on side",
+    "Press the top button in the black matte alarm-clock's center.",
+    "Use the right arm to click the center button on the alarm-clock with digital display",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Press the center button on the palm-sized alarm-clock's top.",
+    "Use the right arm to press the small alarm-clock's top button",
+    "Push the top button of the rectangular alarm-clock using the right arm",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Press the top button at the rectangular alarm-clock's center.",
+    "Use the right arm to click the top of the black alarm-clock",
+    "Locate and press the top button on the lightweight plastic alarm-clock",
+    "Click the center of the smooth black alarm-clock's top",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Point the right arm to press the button of the black matte alarm-clock.",
+    "Click the button centered on the lightweight plastic alarm-clock.",
+    "Use the right arm to activate the black alarm-clock's button",
+    "Press the top middle button of the alarm-clock with rounded edges",
+    "Push the top button on the alarm-clock with digital display",
+    "Press the center top button of the rectangular alarm-clock",
+    "Click the compact alarm-clock's top center button using the right arm.",
+    "Direct the right arm to click the button found on the smooth black alarm-clock.",
+    "the right arm clicks the center top button on the digital screen alarm-clock",
+    "Activate the alarm-clock with buttons on side by pressing the top button",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Press the button on the rectangular alarm-clock's top side",
+    "Push the button on the black alarm-clock's top center.",
+    "Push the center area of the compact alarm-clock's top",
+    "Touch the black alarm-clock's center top button with the right arm",
+    "Use the right arm to click the top center button on the alarm-clock with rounded edges.",
+    "Click the button centered on the black matte alarm-clock's top.",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top button center",
+    "Tap the center button on the digital screen alarm-clock.",
+    "the right arm presses the center top button on the digital screen alarm-clock",
+    "the right arm activates the black matte alarm-clock by clicking the top button",
+    "Use the right arm to tap the black matte alarm-clock's central button.",
+    "Guide the right arm to press the centered button on the alarm-clock with digital display.",
+    "Hit the center of the small alarm-clock's top button",
+    "Ensure the right arm clicks the top center button of the small alarm-clock",
+    "Tap the black matte alarm-clock's top button with the right arm",
+    "Use the right arm to press the center top of the alarm-clock with buttons on side",
+    "Use the right arm to press the central button on the lightweight plastic alarm-clock.",
+    "Touch the alarm-clock with buttons on side's button on the top side."
+  ],
+  "unseen": [
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode43.json b/click_alarmclock/demo_diverse/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..48a5d3078ae5e5e8ab3b844b733f0a4ec2ee5ea2
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to tap the palm-sized dark blue clock's central button.",
+    "Tap the square plastic alarm clock's top button with the right arm",
+    "Press the top button in the square alarm clock's center.",
+    "Hit the center of the alarm clock with green stripe's top button",
+    "Push the top button on the small plastic alarm clock",
+    "Use the right arm to click the top of the square plastic alarm clock",
+    "Touch the square plastic alarm clock's button on the top side.",
+    "Use the right arm to tap the clock with white dial's top center button.",
+    "Use the right arm to tap the clock with white dial's top button center",
+    "Use the right arm to press the square alarm clock's top center button.",
+    "Use the right arm to press the central button on the dark blue clock.",
+    "Press the top middle button of the small plastic alarm clock",
+    "Direct the right arm to click the button found on the dark blue clock.",
+    "the right arm presses the center top button on the alarm clock with green stripe",
+    "Tap the center button on the square alarm clock.",
+    "Click the top center button of the clock with black hands",
+    "Locate and press the dark blue clock's top center button",
+    "Use the right arm to click the center button on the clock with black hands",
+    "Touch the dark blue clock's center top button with the right arm",
+    "Push the center area of the small clock with rounded edges's top",
+    "Press the center top button on the dark blue clock with the right arm",
+    "Click the middle button on the palm-sized dark blue clock's top side",
+    "Press the top button at the white-faced alarm clock's center.",
+    "Activate the clock with white dial by clicking its top button",
+    "Use the right arm to click the top center button on the palm-sized dark blue clock.",
+    "Push the top button of the alarm clock with green stripe using the right arm",
+    "Push the button on the clock with white dial's top center.",
+    "Press the center button on the clock with white dial's top.",
+    "Press the small clock with rounded edges's top button using the right arm",
+    "Locate and press the top button on the dark blue clock",
+    "Tap the button at the white-faced alarm clock's top center.",
+    "Activate the small plastic alarm clock by pressing its top",
+    "Point the right arm to press the button of the dark blue clock.",
+    "Click the white-faced alarm clock's top center button using the right arm.",
+    "Click the center of the white-faced alarm clock's top",
+    "the right arm activates the dark blue clock by clicking the top button",
+    "Press the button on the clock with black hands's top side",
+    "Guide the right arm to press the centered button on the clock with white dial.",
+    "Use the right arm to press the center top of the square plastic alarm clock",
+    "Click the button centered on the square alarm clock.",
+    "Activate the palm-sized dark blue clock by pressing the top button",
+    "Push the central button on the small plastic alarm clock's top side.",
+    "Ensure the right arm clicks the top center button of the square plastic alarm clock",
+    "Press the center top button of the small plastic alarm clock",
+    "Use the right arm to press the square alarm clock's top button",
+    "Click the button centered on the square alarm clock's top.",
+    "Use the right arm to activate the rounded square-shaped alarm clock's button",
+    "Use the right arm to press the alarm clock with green stripe button",
+    "Click the center button on the alarm clock with green stripe's top side.",
+    "the right arm clicks the center top button on the clock with black hands",
+    "Use the right arm to tap the white-faced alarm clock's central button.",
+    "Tap the white-faced alarm clock's top button with the right arm",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Hit the center of the clock with black hands's top button",
+    "Push the top button on the square plastic alarm clock",
+    "Use the right arm to click the top of the clock with black hands",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Use the right arm to tap the clock with black hands's top center button.",
+    "Use the right arm to tap the square alarm clock's top button center",
+    "Use the right arm to press the rounded square-shaped alarm clock's top center button.",
+    "Use the right arm to press the central button on the square plastic alarm clock.",
+    "Press the top middle button of the square plastic alarm clock",
+    "Direct the right arm to click the button found on the clock with white dial.",
+    "the right arm presses the center top button on the square plastic alarm clock",
+    "Tap the center button on the white-faced alarm clock.",
+    "Click the top center button of the clock with black hands",
+    "Locate and press the clock with white dial's top center button",
+    "Use the right arm to click the center button on the clock with white dial",
+    "Touch the small plastic alarm clock's center top button with the right arm",
+    "Push the center area of the small clock with rounded edges's top",
+    "Press the center top button on the alarm clock with green stripe with the right arm",
+    "Click the middle button on the blue clock with green stripe's top side",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Activate the clock with white dial by clicking its top button",
+    "Use the right arm to click the top center button on the clock with black hands.",
+    "Push the top button of the small clock with rounded edges using the right arm",
+    "Push the button on the square plastic alarm clock's top center.",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Press the square plastic alarm clock's top button using the right arm",
+    "Locate and press the top button on the clock with black hands",
+    "Tap the button at the white-faced alarm clock's top center.",
+    "Activate the clock with white dial by pressing its top",
+    "Point the right arm to press the button of the alarm clock with green stripe.",
+    "Click the square plastic alarm clock's top center button using the right arm.",
+    "Click the center of the clock with black hands's top",
+    "the right arm activates the clock with black hands by clicking the top button",
+    "Press the button on the square plastic alarm clock's top side",
+    "Guide the right arm to press the centered button on the dark blue clock.",
+    "Use the right arm to press the center top of the square alarm clock",
+    "Click the button centered on the clock with black hands.",
+    "Activate the white-faced alarm clock by pressing the top button",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Ensure the right arm clicks the top center button of the white-faced alarm clock",
+    "Press the center top button of the alarm clock with green stripe",
+    "Use the right arm to press the clock with black hands's top button",
+    "Click the button centered on the square alarm clock's top.",
+    "Use the right arm to activate the clock with black hands's button",
+    "Use the right arm to press the palm-sized dark blue clock button",
+    "Click the center button on the small plastic alarm clock's top side.",
+    "the right arm clicks the center top button on the clock with black hands"
+  ],
+  "unseen": [
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the blue alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode44.json b/click_alarmclock/demo_diverse/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..c231765861b42d0aabb19dc212340fdfd2d6f678
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the top button in the small clock with rounded edges's center.",
+    "Activate the square alarm clock by clicking its top button",
+    "Use the right arm to click the top of the palm-sized dark blue clock",
+    "Use the right arm to press the white-faced alarm clock's top center button.",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Use the right arm to tap the alarm clock with green stripe's top button center",
+    "Locate and press the top button on the clock with white dial",
+    "Click the center button on the small clock with rounded edges's top side.",
+    "Hit the center of the square plastic alarm clock's top button",
+    "Push the central button on the rounded square-shaped alarm clock's top side.",
+    "Press the top button at the blue clock with green stripe's center.",
+    "Use the right arm to press the center top of the rounded square-shaped alarm clock",
+    "Push the button on the small plastic alarm clock's top center.",
+    "Press the button on the small clock with rounded edges's top side",
+    "Press the center top button on the small plastic alarm clock with the right arm",
+    "Use the right arm to tap the small plastic alarm clock's top center button.",
+    "Press the center top button of the alarm clock with green stripe",
+    "Use the right arm to click the top center button on the blue clock with green stripe.",
+    "Use the right arm to press the dark blue clock's top button",
+    "Press the white-faced alarm clock's top button using the right arm",
+    "Push the top button on the palm-sized dark blue clock",
+    "the right arm activates the small clock with rounded edges by clicking the top button",
+    "Click the button centered on the white-faced alarm clock.",
+    "Point the right arm to press the button of the dark blue clock.",
+    "the right arm presses the center top button on the clock with white dial",
+    "Activate the clock with white dial by pressing its top",
+    "Use the right arm to click the center button on the palm-sized dark blue clock",
+    "Ensure the right arm clicks the top center button of the blue clock with green stripe",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Activate the clock with black hands by pressing the top button",
+    "Tap the button at the clock with white dial's top center.",
+    "Locate and press the dark blue clock's top center button",
+    "Use the right arm to tap the rounded square-shaped alarm clock's central button.",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Direct the right arm to click the button found on the square plastic alarm clock.",
+    "the right arm clicks the center top button on the white-faced alarm clock",
+    "Click the center of the clock with black hands's top",
+    "Touch the clock with white dial's center top button with the right arm",
+    "Click the middle button on the dark blue clock's top side",
+    "Click the top center button of the white-faced alarm clock",
+    "Push the center area of the clock with white dial's top",
+    "Use the right arm to press the central button on the palm-sized dark blue clock.",
+    "Push the top button of the palm-sized dark blue clock using the right arm",
+    "Use the right arm to activate the square alarm clock's button",
+    "Guide the right arm to press the centered button on the blue clock with green stripe.",
+    "Tap the center button on the blue clock with green stripe.",
+    "Press the top middle button of the palm-sized dark blue clock",
+    "Click the square plastic alarm clock's top center button using the right arm.",
+    "Use the right arm to press the clock with black hands button",
+    "Tap the small clock with rounded edges's top button with the right arm",
+    "Press the top button in the small plastic alarm clock's center.",
+    "Activate the blue clock with green stripe by clicking its top button",
+    "Use the right arm to click the top of the small plastic alarm clock",
+    "Use the right arm to press the blue clock with green stripe's top center button.",
+    "Press the center button on the square plastic alarm clock's top.",
+    "Use the right arm to tap the square alarm clock's top button center",
+    "Locate and press the top button on the white-faced alarm clock",
+    "Click the center button on the clock with black hands's top side.",
+    "Hit the center of the clock with white dial's top button",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Press the top button at the dark blue clock's center.",
+    "Use the right arm to press the center top of the clock with white dial",
+    "Push the button on the dark blue clock's top center.",
+    "Press the button on the clock with white dial's top side",
+    "Press the center top button on the square alarm clock with the right arm",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Press the center top button of the palm-sized dark blue clock",
+    "Use the right arm to click the top center button on the small clock with rounded edges.",
+    "Use the right arm to press the clock with white dial's top button",
+    "Press the blue clock with green stripe's top button using the right arm",
+    "Push the top button on the small clock with rounded edges",
+    "the right arm activates the rounded square-shaped alarm clock by clicking the top button",
+    "Click the button centered on the clock with white dial.",
+    "Point the right arm to press the button of the clock with white dial.",
+    "the right arm presses the center top button on the blue clock with green stripe",
+    "Activate the dark blue clock by pressing its top",
+    "Use the right arm to click the center button on the square plastic alarm clock",
+    "Ensure the right arm clicks the top center button of the small plastic alarm clock",
+    "Touch the blue clock with green stripe's button on the top side.",
+    "Activate the square alarm clock by pressing the top button",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Use the right arm to tap the dark blue clock's central button.",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Direct the right arm to click the button found on the alarm clock with green stripe.",
+    "the right arm clicks the center top button on the palm-sized dark blue clock",
+    "Click the center of the blue clock with green stripe's top",
+    "Touch the clock with white dial's center top button with the right arm",
+    "Click the middle button on the blue clock with green stripe's top side",
+    "Click the top center button of the alarm clock with green stripe",
+    "Push the center area of the small clock with rounded edges's top",
+    "Use the right arm to press the central button on the square alarm clock.",
+    "Push the top button of the blue clock with green stripe using the right arm",
+    "Use the right arm to activate the rounded square-shaped alarm clock's button",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "Tap the center button on the square alarm clock.",
+    "Press the top middle button of the clock with white dial",
+    "Click the rounded square-shaped alarm clock's top center button using the right arm.",
+    "Use the right arm to press the palm-sized dark blue clock button",
+    "Tap the clock with white dial's top button with the right arm"
+  ],
+  "unseen": [
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode46.json b/click_alarmclock/demo_diverse/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f8488a1b31b9c956cf3c5275249ca6c241b85c2
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the button centered on the small plastic alarm clock.",
+    "Use the right arm to press the center top of the white-faced alarm clock",
+    "Hit the center of the square plastic alarm clock's top button",
+    "Press the top middle button of the clock with white dial",
+    "Push the top button of the clock with black hands using the right arm",
+    "Activate the rounded square-shaped alarm clock by pressing the top button",
+    "Press the button on the clock with white dial's top side",
+    "Click the center of the small plastic alarm clock's top",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Use the right arm to press the square alarm clock's top button",
+    "Tap the rounded square-shaped alarm clock's top button with the right arm",
+    "Touch the dark blue clock's button on the top side.",
+    "Push the button on the rounded square-shaped alarm clock's top center.",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "Tap the button at the square alarm clock's top center.",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Click the button centered on the rounded square-shaped alarm clock's top.",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "the right arm activates the square alarm clock by clicking the top button",
+    "Use the right arm to activate the square alarm clock's button",
+    "Use the right arm to press the small clock with rounded edges button",
+    "Activate the clock with white dial by clicking its top button",
+    "Press the top button in the alarm clock with green stripe's center.",
+    "Ensure the right arm clicks the top center button of the small clock with rounded edges",
+    "Click the clock with black hands's top center button using the right arm.",
+    "Push the center area of the small plastic alarm clock's top",
+    "Press the rounded square-shaped alarm clock's top button using the right arm",
+    "Use the right arm to tap the small clock with rounded edges's top center button.",
+    "Click the top center button of the palm-sized dark blue clock",
+    "Use the right arm to click the center button on the rounded square-shaped alarm clock",
+    "Use the right arm to press the central button on the small plastic alarm clock.",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Direct the right arm to click the button found on the dark blue clock.",
+    "Click the middle button on the small clock with rounded edges's top side",
+    "Guide the right arm to press the centered button on the rounded square-shaped alarm clock.",
+    "Use the right arm to click the top of the palm-sized dark blue clock",
+    "Activate the alarm clock with green stripe by pressing its top",
+    "Use the right arm to click the top center button on the small plastic alarm clock.",
+    "Touch the dark blue clock's center top button with the right arm",
+    "Click the center button on the blue clock with green stripe's top side.",
+    "the right arm clicks the center top button on the square plastic alarm clock",
+    "the right arm presses the center top button on the dark blue clock",
+    "Point the right arm to press the button of the clock with white dial.",
+    "Tap the center button on the white-faced alarm clock.",
+    "Push the top button on the clock with white dial",
+    "Press the center top button of the square plastic alarm clock",
+    "Press the center top button on the dark blue clock with the right arm",
+    "Use the right arm to tap the square alarm clock's top button center",
+    "Use the right arm to tap the small clock with rounded edges's central button.",
+    "Use the right arm to press the square alarm clock's top center button.",
+    "Click the button centered on the square alarm clock.",
+    "Use the right arm to press the center top of the small plastic alarm clock",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Press the top middle button of the palm-sized dark blue clock",
+    "Push the top button of the square plastic alarm clock using the right arm",
+    "Activate the dark blue clock by pressing the top button",
+    "Press the button on the alarm clock with green stripe's top side",
+    "Click the center of the palm-sized dark blue clock's top",
+    "Push the central button on the rounded square-shaped alarm clock's top side.",
+    "Use the right arm to press the dark blue clock's top button",
+    "Tap the small clock with rounded edges's top button with the right arm",
+    "Touch the square plastic alarm clock's button on the top side.",
+    "Push the button on the clock with white dial's top center.",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "Tap the button at the square plastic alarm clock's top center.",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Click the button centered on the square plastic alarm clock's top.",
+    "Locate and press the top button on the white-faced alarm clock",
+    "the right arm activates the square alarm clock by clicking the top button",
+    "Use the right arm to activate the blue clock with green stripe's button",
+    "Use the right arm to press the small plastic alarm clock button",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Ensure the right arm clicks the top center button of the white-faced alarm clock",
+    "Click the alarm clock with green stripe's top center button using the right arm.",
+    "Push the center area of the clock with black hands's top",
+    "Press the palm-sized dark blue clock's top button using the right arm",
+    "Use the right arm to tap the dark blue clock's top center button.",
+    "Click the top center button of the alarm clock with green stripe",
+    "Use the right arm to click the center button on the square alarm clock",
+    "Use the right arm to press the central button on the clock with white dial.",
+    "Press the center button on the clock with white dial's top.",
+    "Direct the right arm to click the button found on the white-faced alarm clock.",
+    "Click the middle button on the alarm clock with green stripe's top side",
+    "Guide the right arm to press the centered button on the rounded square-shaped alarm clock.",
+    "Use the right arm to click the top of the small clock with rounded edges",
+    "Activate the square alarm clock by pressing its top",
+    "Use the right arm to click the top center button on the blue clock with green stripe.",
+    "Touch the white-faced alarm clock's center top button with the right arm",
+    "Click the center button on the square alarm clock's top side.",
+    "the right arm clicks the center top button on the dark blue clock",
+    "the right arm presses the center top button on the clock with black hands",
+    "Point the right arm to press the button of the square alarm clock.",
+    "Tap the center button on the palm-sized dark blue clock.",
+    "Push the top button on the white-faced alarm clock",
+    "Press the center top button of the alarm clock with green stripe",
+    "Press the center top button on the white-faced alarm clock with the right arm",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top button center",
+    "Use the right arm to tap the blue clock with green stripe's central button.",
+    "Use the right arm to press the blue clock with green stripe's top center button."
+  ],
+  "unseen": [
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode47.json b/click_alarmclock/demo_diverse/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..227b7927467c8d39054ff5327d5e4d64acc4b14f
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to click the button found on the blue clock with green stripe.",
+    "Press the top middle button of the small plastic alarm clock",
+    "Press the center top button of the alarm clock with green stripe",
+    "Touch the clock with white dial's button on the top side.",
+    "Press the button on the square alarm clock's top side",
+    "Use the right arm to tap the clock with black hands's top center button.",
+    "Press the top button in the palm-sized dark blue clock's center.",
+    "Locate and press the clock with black hands's top center button",
+    "the right arm presses the center top button on the clock with black hands",
+    "Use the right arm to press the central button on the small clock with rounded edges.",
+    "Use the right arm to click the top center button on the small clock with rounded edges.",
+    "the right arm clicks the center top button on the white-faced alarm clock",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Guide the right arm to press the centered button on the dark blue clock.",
+    "Push the central button on the square alarm clock's top side.",
+    "Press the center top button on the square plastic alarm clock with the right arm",
+    "Use the right arm to click the center button on the blue clock with green stripe",
+    "Ensure the right arm clicks the top center button of the clock with black hands",
+    "Press the center button on the square plastic alarm clock's top.",
+    "Touch the small clock with rounded edges's center top button with the right arm",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "Use the right arm to press the square alarm clock's top button",
+    "Use the right arm to press the center top of the dark blue clock",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Use the right arm to click the top of the alarm clock with green stripe",
+    "Push the top button of the blue clock with green stripe using the right arm",
+    "Use the right arm to activate the blue clock with green stripe's button",
+    "the right arm activates the small plastic alarm clock by clicking the top button",
+    "Point the right arm to press the button of the blue clock with green stripe.",
+    "Push the button on the square alarm clock's top center.",
+    "Click the center of the alarm clock with green stripe's top",
+    "Tap the button at the clock with black hands's top center.",
+    "Use the right arm to tap the white-faced alarm clock's central button.",
+    "Use the right arm to tap the small clock with rounded edges's top button center",
+    "Click the top center button of the blue clock with green stripe",
+    "Tap the alarm clock with green stripe's top button with the right arm",
+    "Click the button centered on the clock with white dial's top.",
+    "Click the center button on the small plastic alarm clock's top side.",
+    "Hit the center of the square alarm clock's top button",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Click the middle button on the palm-sized dark blue clock's top side",
+    "Click the button centered on the small clock with rounded edges.",
+    "Locate and press the top button on the blue clock with green stripe",
+    "Click the rounded square-shaped alarm clock's top center button using the right arm.",
+    "Press the rounded square-shaped alarm clock's top button using the right arm",
+    "Use the right arm to press the rounded square-shaped alarm clock button",
+    "Use the right arm to press the small plastic alarm clock's top center button.",
+    "Tap the center button on the blue clock with green stripe.",
+    "Push the top button on the palm-sized dark blue clock",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "Direct the right arm to click the button found on the rounded square-shaped alarm clock.",
+    "Press the top middle button of the rounded square-shaped alarm clock",
+    "Press the center top button of the palm-sized dark blue clock",
+    "Touch the clock with white dial's button on the top side.",
+    "Press the button on the clock with black hands's top side",
+    "Use the right arm to tap the square alarm clock's top center button.",
+    "Press the top button in the alarm clock with green stripe's center.",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "the right arm presses the center top button on the clock with black hands",
+    "Use the right arm to press the central button on the alarm clock with green stripe.",
+    "Use the right arm to click the top center button on the white-faced alarm clock.",
+    "the right arm clicks the center top button on the white-faced alarm clock",
+    "Activate the rounded square-shaped alarm clock by clicking its top button",
+    "Guide the right arm to press the centered button on the small plastic alarm clock.",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Press the center top button on the clock with white dial with the right arm",
+    "Use the right arm to click the center button on the clock with black hands",
+    "Ensure the right arm clicks the top center button of the dark blue clock",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Touch the white-faced alarm clock's center top button with the right arm",
+    "Activate the white-faced alarm clock by pressing the top button",
+    "Use the right arm to press the white-faced alarm clock's top button",
+    "Use the right arm to press the center top of the square plastic alarm clock",
+    "Activate the palm-sized dark blue clock by pressing its top",
+    "Use the right arm to click the top of the clock with white dial",
+    "Push the top button of the small clock with rounded edges using the right arm",
+    "Use the right arm to activate the palm-sized dark blue clock's button",
+    "the right arm activates the square alarm clock by clicking the top button",
+    "Point the right arm to press the button of the clock with black hands.",
+    "Push the button on the clock with black hands's top center.",
+    "Click the center of the rounded square-shaped alarm clock's top",
+    "Tap the button at the clock with black hands's top center.",
+    "Use the right arm to tap the blue clock with green stripe's central button.",
+    "Use the right arm to tap the palm-sized dark blue clock's top button center",
+    "Click the top center button of the clock with black hands",
+    "Tap the palm-sized dark blue clock's top button with the right arm",
+    "Click the button centered on the small clock with rounded edges's top.",
+    "Click the center button on the square alarm clock's top side.",
+    "Hit the center of the rounded square-shaped alarm clock's top button",
+    "Push the center area of the white-faced alarm clock's top",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "Click the button centered on the clock with white dial.",
+    "Locate and press the top button on the clock with black hands",
+    "Click the palm-sized dark blue clock's top center button using the right arm.",
+    "Press the clock with black hands's top button using the right arm",
+    "Use the right arm to press the alarm clock with green stripe button",
+    "Use the right arm to press the small clock with rounded edges's top center button.",
+    "Tap the center button on the clock with black hands.",
+    "Push the top button on the alarm clock with green stripe",
+    "Press the top button at the dark blue clock's center."
+  ],
+  "unseen": [
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the alarm clock with smooth finish."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode48.json b/click_alarmclock/demo_diverse/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c2c1b6918e1d2ba49850179aedc33843bdc92ef
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to click the top center button on the lightweight plastic alarm-clock.",
+    "Push the center area of the compact alarm-clock's top",
+    "Push the top button on the palm-sized alarm-clock",
+    "Push the top button of the alarm-clock with rounded edges using the right arm",
+    "Activate the smooth black alarm-clock by pressing the top button",
+    "Use the right arm to activate the black alarm-clock's button",
+    "the right arm activates the black alarm-clock by clicking the top button",
+    "Press the top middle button of the rectangular alarm-clock",
+    "Use the right arm to tap the alarm-clock with buttons on side's central button.",
+    "Click the button centered on the alarm-clock with buttons on side.",
+    "Click the middle button on the lightweight plastic alarm-clock's top side",
+    "Hit the center of the compact alarm-clock's top button",
+    "the right arm presses the center top button on the lightweight plastic alarm-clock",
+    "Activate the black matte alarm-clock by pressing its top",
+    "Click the button centered on the alarm-clock with digital display's top.",
+    "Press the rectangular alarm-clock's top button using the right arm",
+    "Touch the black alarm-clock's button on the top side.",
+    "Click the center of the digital screen alarm-clock's top",
+    "Point the right arm to press the button of the compact alarm-clock.",
+    "Guide the right arm to press the centered button on the digital screen alarm-clock.",
+    "Locate and press the top button on the compact alarm-clock",
+    "Click the center button on the black alarm-clock's top side.",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Locate and press the black alarm-clock's top center button",
+    "Use the right arm to press the center top of the black matte alarm-clock",
+    "Press the center top button of the black alarm-clock",
+    "Click the top center button of the compact alarm-clock",
+    "Activate the rectangular alarm-clock by clicking its top button",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Ensure the right arm clicks the top center button of the black alarm-clock",
+    "Press the top button at the black alarm-clock's center.",
+    "Use the right arm to press the central button on the rectangular alarm-clock.",
+    "Use the right arm to click the center button on the palm-sized alarm-clock",
+    "Tap the button at the black matte alarm-clock's top center.",
+    "Direct the right arm to click the button found on the small alarm-clock.",
+    "Use the right arm to press the alarm-clock with rounded edges's top center button.",
+    "Push the button on the compact alarm-clock's top center.",
+    "Tap the lightweight plastic alarm-clock's top button with the right arm",
+    "Use the right arm to click the top of the rectangular alarm-clock",
+    "Click the palm-sized alarm-clock's top center button using the right arm.",
+    "the right arm clicks the center top button on the alarm-clock with buttons on side",
+    "Press the center top button on the small alarm-clock with the right arm",
+    "Use the right arm to tap the black alarm-clock's top center button.",
+    "Use the right arm to tap the black matte alarm-clock's top button center",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Use the right arm to press the alarm-clock with rounded edges's top button",
+    "Press the center button on the alarm-clock with rounded edges's top.",
+    "Use the right arm to press the alarm-clock with buttons on side button",
+    "Touch the alarm-clock with rounded edges's center top button with the right arm",
+    "Push the central button on the compact alarm-clock's top side.",
+    "Use the right arm to click the top center button on the digital screen alarm-clock.",
+    "Push the center area of the rectangular alarm-clock's top",
+    "Push the top button on the black alarm-clock",
+    "Push the top button of the rectangular alarm-clock using the right arm",
+    "Activate the alarm-clock with buttons on side by pressing the top button",
+    "Use the right arm to activate the small alarm-clock's button",
+    "the right arm activates the black matte alarm-clock by clicking the top button",
+    "Press the top middle button of the lightweight plastic alarm-clock",
+    "Use the right arm to tap the black alarm-clock's central button.",
+    "Click the button centered on the alarm-clock with digital display.",
+    "Click the middle button on the rectangular alarm-clock's top side",
+    "Hit the center of the digital screen alarm-clock's top button",
+    "the right arm presses the center top button on the black matte alarm-clock",
+    "Activate the lightweight plastic alarm-clock by pressing its top",
+    "Click the button centered on the compact alarm-clock's top.",
+    "Press the alarm-clock with buttons on side's top button using the right arm",
+    "Touch the digital screen alarm-clock's button on the top side.",
+    "Click the center of the black alarm-clock's top",
+    "Point the right arm to press the button of the small alarm-clock.",
+    "Guide the right arm to press the centered button on the small alarm-clock.",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Tap the center button on the alarm-clock with digital display.",
+    "Locate and press the lightweight plastic alarm-clock's top center button",
+    "Use the right arm to press the center top of the smooth black alarm-clock",
+    "Press the center top button of the rectangular alarm-clock",
+    "Click the top center button of the palm-sized alarm-clock",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Press the top button in the alarm-clock with buttons on side's center.",
+    "Ensure the right arm clicks the top center button of the black matte alarm-clock",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Use the right arm to press the central button on the alarm-clock with buttons on side.",
+    "Use the right arm to click the center button on the rectangular alarm-clock",
+    "Tap the button at the alarm-clock with buttons on side's top center.",
+    "Direct the right arm to click the button found on the small alarm-clock.",
+    "Use the right arm to press the lightweight plastic alarm-clock's top center button.",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "Tap the black matte alarm-clock's top button with the right arm",
+    "Use the right arm to click the top of the rectangular alarm-clock",
+    "Click the rectangular alarm-clock's top center button using the right arm.",
+    "the right arm clicks the center top button on the compact alarm-clock",
+    "Press the center top button on the small alarm-clock with the right arm",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Use the right arm to tap the smooth black alarm-clock's top button center",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Use the right arm to press the palm-sized alarm-clock's top button",
+    "Press the center button on the black alarm-clock's top.",
+    "Use the right arm to press the rectangular alarm-clock button",
+    "Touch the small alarm-clock's center top button with the right arm",
+    "Push the central button on the smooth black alarm-clock's top side."
+  ],
+  "unseen": [
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode5.json b/click_alarmclock/demo_diverse/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..e04c927cbdb2dee994af681c2d8fd8d320a63424
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the left arm clicks the center top button on the smooth black alarm-clock",
+    "Activate the rectangular alarm-clock by pressing the top button",
+    "Push the top button of the black alarm-clock using the left arm",
+    "Push the center area of the lightweight plastic alarm-clock's top",
+    "Use the left arm to press the rectangular alarm-clock's top center button.",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Use the left arm to click the center button on the palm-sized alarm-clock",
+    "Use the left arm to tap the alarm-clock with rounded edges's central button.",
+    "Click the center button on the alarm-clock with rounded edges's top side.",
+    "Push the top button on the palm-sized alarm-clock",
+    "Activate the small alarm-clock by clicking its top button",
+    "Press the alarm-clock with digital display's top button using the left arm",
+    "Use the left arm to press the central button on the digital screen alarm-clock.",
+    "the left arm presses the center top button on the small alarm-clock",
+    "Use the left arm to click the top center button on the alarm-clock with rounded edges.",
+    "Activate the alarm-clock with rounded edges by pressing its top",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Press the button on the rectangular alarm-clock's top side",
+    "Tap the button at the black alarm-clock's top center.",
+    "Press the center button on the lightweight plastic alarm-clock's top.",
+    "Guide the left arm to press the centered button on the smooth black alarm-clock.",
+    "Press the top button at the small alarm-clock's center.",
+    "Point the left arm to press the button of the black alarm-clock.",
+    "Touch the black alarm-clock's button on the top side.",
+    "Locate and press the alarm-clock with buttons on side's top center button",
+    "Press the center top button on the rectangular alarm-clock with the left arm",
+    "Tap the palm-sized alarm-clock's top button with the left arm",
+    "Use the left arm to tap the black matte alarm-clock's top center button.",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Touch the compact alarm-clock's center top button with the left arm",
+    "Use the left arm to activate the black matte alarm-clock's button",
+    "Direct the left arm to click the button found on the black matte alarm-clock.",
+    "Use the left arm to press the compact alarm-clock's top button",
+    "Use the left arm to press the center top of the digital screen alarm-clock",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Use the left arm to press the black alarm-clock button",
+    "Hit the center of the black matte alarm-clock's top button",
+    "Press the center top button of the black matte alarm-clock",
+    "Ensure the left arm clicks the top center button of the small alarm-clock",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "Click the top center button of the alarm-clock with buttons on side",
+    "Click the center of the black alarm-clock's top",
+    "Use the left arm to click the top of the alarm-clock with digital display",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Click the button centered on the lightweight plastic alarm-clock.",
+    "the left arm activates the alarm-clock with digital display by clicking the top button",
+    "Use the left arm to tap the palm-sized alarm-clock's top button center",
+    "Click the button centered on the black alarm-clock's top.",
+    "Click the smooth black alarm-clock's top center button using the left arm.",
+    "the left arm clicks the center top button on the compact alarm-clock",
+    "Activate the alarm-clock with digital display by pressing the top button",
+    "Push the top button of the rectangular alarm-clock using the left arm",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Use the left arm to press the small alarm-clock's top center button.",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Use the left arm to click the center button on the rectangular alarm-clock",
+    "Use the left arm to tap the compact alarm-clock's central button.",
+    "Click the center button on the small alarm-clock's top side.",
+    "Push the top button on the black alarm-clock",
+    "Activate the alarm-clock with digital display by clicking its top button",
+    "Press the compact alarm-clock's top button using the left arm",
+    "Use the left arm to press the central button on the palm-sized alarm-clock.",
+    "the left arm presses the center top button on the alarm-clock with digital display",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Click the middle button on the palm-sized alarm-clock's top side",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Press the center button on the alarm-clock with digital display's top.",
+    "Guide the left arm to press the centered button on the palm-sized alarm-clock.",
+    "Press the top button at the smooth black alarm-clock's center.",
+    "Point the left arm to press the button of the lightweight plastic alarm-clock.",
+    "Touch the alarm-clock with buttons on side's button on the top side.",
+    "Locate and press the lightweight plastic alarm-clock's top center button",
+    "Press the center top button on the compact alarm-clock with the left arm",
+    "Tap the rectangular alarm-clock's top button with the left arm",
+    "Use the left arm to tap the small alarm-clock's top center button.",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Touch the digital screen alarm-clock's center top button with the left arm",
+    "Use the left arm to activate the compact alarm-clock's button",
+    "Direct the left arm to click the button found on the palm-sized alarm-clock.",
+    "Use the left arm to press the digital screen alarm-clock's top button",
+    "Use the left arm to press the center top of the smooth black alarm-clock",
+    "Tap the center button on the rectangular alarm-clock.",
+    "Use the left arm to press the alarm-clock with digital display button",
+    "Hit the center of the palm-sized alarm-clock's top button",
+    "Press the center top button of the rectangular alarm-clock",
+    "Ensure the left arm clicks the top center button of the alarm-clock with buttons on side",
+    "Push the button on the alarm-clock with digital display's top center.",
+    "Click the top center button of the palm-sized alarm-clock",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Use the left arm to click the top of the lightweight plastic alarm-clock",
+    "Locate and press the top button on the alarm-clock with digital display",
+    "Press the top middle button of the alarm-clock with buttons on side",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "the left arm activates the small alarm-clock by clicking the top button",
+    "Use the left arm to tap the black matte alarm-clock's top button center",
+    "Click the button centered on the small alarm-clock's top.",
+    "Click the alarm-clock with rounded edges's top center button using the left arm."
+  ],
+  "unseen": [
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode50.json b/click_alarmclock/demo_diverse/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..d680ebac5461ef362091b65cf9deadc9cd2b19d8
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to press the alarm clock with green stripe's top button",
+    "Ensure the left arm clicks the top center button of the alarm clock with green stripe",
+    "Press the top middle button of the rounded square-shaped alarm clock",
+    "Activate the clock with white dial by pressing its top",
+    "Click the button centered on the small clock with rounded edges.",
+    "Tap the button at the small clock with rounded edges's top center.",
+    "Locate and press the top button on the white-faced alarm clock",
+    "Tap the center button on the small plastic alarm clock.",
+    "Push the center area of the dark blue clock's top",
+    "Locate and press the small clock with rounded edges's top center button",
+    "Press the center top button of the dark blue clock",
+    "the left arm activates the square alarm clock by clicking the top button",
+    "Click the top center button of the rounded square-shaped alarm clock",
+    "Use the left arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Push the top button on the palm-sized dark blue clock",
+    "Use the left arm to press the square plastic alarm clock button",
+    "Use the left arm to click the center button on the blue clock with green stripe",
+    "Click the blue clock with green stripe's top center button using the left arm.",
+    "Use the left arm to tap the square alarm clock's top button center",
+    "Press the button on the small clock with rounded edges's top side",
+    "Use the left arm to click the top of the dark blue clock",
+    "Push the central button on the alarm clock with green stripe's top side.",
+    "Use the left arm to click the top center button on the small plastic alarm clock.",
+    "Use the left arm to press the central button on the small plastic alarm clock.",
+    "the left arm clicks the center top button on the small plastic alarm clock",
+    "Touch the small clock with rounded edges's center top button with the left arm",
+    "Guide the left arm to press the centered button on the palm-sized dark blue clock.",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Click the center button on the blue clock with green stripe's top side.",
+    "Tap the small plastic alarm clock's top button with the left arm",
+    "Hit the center of the small clock with rounded edges's top button",
+    "Touch the square alarm clock's button on the top side.",
+    "Use the left arm to tap the palm-sized dark blue clock's central button.",
+    "Direct the left arm to click the button found on the white-faced alarm clock.",
+    "Push the top button of the alarm clock with green stripe using the left arm",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "Use the left arm to press the white-faced alarm clock's top center button.",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "Push the button on the white-faced alarm clock's top center.",
+    "Press the dark blue clock's top button using the left arm",
+    "Use the left arm to activate the white-faced alarm clock's button",
+    "Point the left arm to press the button of the rounded square-shaped alarm clock.",
+    "Press the center top button on the clock with white dial with the left arm",
+    "Click the center of the clock with black hands's top",
+    "Activate the clock with white dial by clicking its top button",
+    "the left arm presses the center top button on the dark blue clock",
+    "Use the left arm to press the center top of the blue clock with green stripe",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Press the top button in the clock with white dial's center.",
+    "Use the left arm to press the rounded square-shaped alarm clock's top button",
+    "Ensure the left arm clicks the top center button of the small plastic alarm clock",
+    "Press the top middle button of the white-faced alarm clock",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Click the button centered on the white-faced alarm clock.",
+    "Tap the button at the square alarm clock's top center.",
+    "Locate and press the top button on the small clock with rounded edges",
+    "Tap the center button on the white-faced alarm clock.",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Press the center top button of the square alarm clock",
+    "the left arm activates the blue clock with green stripe by clicking the top button",
+    "Click the top center button of the blue clock with green stripe",
+    "Use the left arm to tap the clock with white dial's top center button.",
+    "Push the top button on the clock with black hands",
+    "Use the left arm to press the clock with black hands button",
+    "Use the left arm to click the center button on the palm-sized dark blue clock",
+    "Click the alarm clock with green stripe's top center button using the left arm.",
+    "Use the left arm to tap the small clock with rounded edges's top button center",
+    "Press the button on the clock with white dial's top side",
+    "Use the left arm to click the top of the clock with white dial",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Use the left arm to click the top center button on the rounded square-shaped alarm clock.",
+    "Use the left arm to press the central button on the alarm clock with green stripe.",
+    "the left arm clicks the center top button on the small clock with rounded edges",
+    "Touch the square alarm clock's center top button with the left arm",
+    "Guide the left arm to press the centered button on the square plastic alarm clock.",
+    "Press the center button on the square alarm clock's top.",
+    "Click the center button on the blue clock with green stripe's top side.",
+    "Tap the alarm clock with green stripe's top button with the left arm",
+    "Hit the center of the square alarm clock's top button",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Use the left arm to tap the small clock with rounded edges's central button.",
+    "Direct the left arm to click the button found on the alarm clock with green stripe.",
+    "Push the top button of the palm-sized dark blue clock using the left arm",
+    "Click the middle button on the palm-sized dark blue clock's top side",
+    "Use the left arm to press the dark blue clock's top center button.",
+    "Activate the palm-sized dark blue clock by pressing the top button",
+    "Push the button on the white-faced alarm clock's top center.",
+    "Press the small clock with rounded edges's top button using the left arm",
+    "Use the left arm to activate the palm-sized dark blue clock's button",
+    "Point the left arm to press the button of the square plastic alarm clock.",
+    "Press the center top button on the clock with white dial with the left arm",
+    "Click the center of the alarm clock with green stripe's top",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "the left arm presses the center top button on the blue clock with green stripe",
+    "Use the left arm to press the center top of the palm-sized dark blue clock",
+    "Click the button centered on the square alarm clock's top.",
+    "Press the top button at the clock with white dial's center.",
+    "Press the top button in the alarm clock with green stripe's center."
+  ],
+  "unseen": [
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode51.json b/click_alarmclock/demo_diverse/instructions/episode51.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e68f46d285a8dd46609e246c2e2641782f1d2bc
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode51.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the center top button on the square plastic alarm clock with the left arm",
+    "Click the top center button of the square plastic alarm clock",
+    "Press the center top button of the small plastic alarm clock",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "Activate the palm-sized dark blue clock by pressing its top",
+    "Push the top button on the blue clock with green stripe",
+    "Touch the clock with white dial's center top button with the left arm",
+    "Push the central button on the white-faced alarm clock's top side.",
+    "Use the left arm to tap the small clock with rounded edges's top button center",
+    "Press the top button in the clock with white dial's center.",
+    "Use the left arm to press the clock with white dial's top center button.",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Use the left arm to click the top center button on the alarm clock with green stripe.",
+    "Use the left arm to press the square plastic alarm clock button",
+    "Press the button on the blue clock with green stripe's top side",
+    "Use the left arm to click the center button on the dark blue clock",
+    "Press the palm-sized dark blue clock's top button using the left arm",
+    "Point the left arm to press the button of the small plastic alarm clock.",
+    "Activate the dark blue clock by clicking its top button",
+    "the left arm presses the center top button on the palm-sized dark blue clock",
+    "Guide the left arm to press the centered button on the dark blue clock.",
+    "Use the left arm to press the center top of the alarm clock with green stripe",
+    "Push the button on the square plastic alarm clock's top center.",
+    "the left arm activates the alarm clock with green stripe by clicking the top button",
+    "Locate and press the dark blue clock's top center button",
+    "Direct the left arm to click the button found on the square plastic alarm clock.",
+    "Click the middle button on the dark blue clock's top side",
+    "Use the left arm to press the palm-sized dark blue clock's top button",
+    "Ensure the left arm clicks the top center button of the blue clock with green stripe",
+    "the left arm clicks the center top button on the small clock with rounded edges",
+    "Use the left arm to tap the rounded square-shaped alarm clock's central button.",
+    "Click the button centered on the clock with black hands's top.",
+    "Push the top button of the small clock with rounded edges using the left arm",
+    "Click the alarm clock with green stripe's top center button using the left arm.",
+    "Touch the white-faced alarm clock's button on the top side.",
+    "Activate the square alarm clock by pressing the top button",
+    "Click the center of the small clock with rounded edges's top",
+    "Press the top middle button of the dark blue clock",
+    "Use the left arm to press the central button on the small plastic alarm clock.",
+    "Click the button centered on the white-faced alarm clock.",
+    "Tap the white-faced alarm clock's top button with the left arm",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Use the left arm to activate the clock with white dial's button",
+    "Push the center area of the clock with black hands's top",
+    "Click the center button on the palm-sized dark blue clock's top side.",
+    "Tap the center button on the clock with white dial.",
+    "Use the left arm to tap the blue clock with green stripe's top center button.",
+    "Locate and press the top button on the small plastic alarm clock",
+    "Use the left arm to click the top of the blue clock with green stripe",
+    "Press the center top button on the clock with black hands with the left arm",
+    "Click the top center button of the clock with black hands",
+    "Press the center top button of the alarm clock with green stripe",
+    "Tap the button at the square alarm clock's top center.",
+    "Press the top button at the white-faced alarm clock's center.",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Push the top button on the clock with white dial",
+    "Touch the square alarm clock's center top button with the left arm",
+    "Push the central button on the white-faced alarm clock's top side.",
+    "Use the left arm to tap the dark blue clock's top button center",
+    "Press the top button in the rounded square-shaped alarm clock's center.",
+    "Use the left arm to press the clock with black hands's top center button.",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Use the left arm to click the top center button on the clock with white dial.",
+    "Use the left arm to press the rounded square-shaped alarm clock button",
+    "Press the button on the small plastic alarm clock's top side",
+    "Use the left arm to click the center button on the dark blue clock",
+    "Press the square alarm clock's top button using the left arm",
+    "Point the left arm to press the button of the dark blue clock.",
+    "Activate the dark blue clock by clicking its top button",
+    "the left arm presses the center top button on the small plastic alarm clock",
+    "Guide the left arm to press the centered button on the blue clock with green stripe.",
+    "Use the left arm to press the center top of the white-faced alarm clock",
+    "Push the button on the alarm clock with green stripe's top center.",
+    "the left arm activates the white-faced alarm clock by clicking the top button",
+    "Locate and press the dark blue clock's top center button",
+    "Direct the left arm to click the button found on the white-faced alarm clock.",
+    "Click the middle button on the square alarm clock's top side",
+    "Use the left arm to press the blue clock with green stripe's top button",
+    "Ensure the left arm clicks the top center button of the palm-sized dark blue clock",
+    "the left arm clicks the center top button on the small clock with rounded edges",
+    "Use the left arm to tap the clock with white dial's central button.",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Push the top button of the palm-sized dark blue clock using the left arm",
+    "Click the small clock with rounded edges's top center button using the left arm.",
+    "Touch the clock with white dial's button on the top side.",
+    "Activate the white-faced alarm clock by pressing the top button",
+    "Click the center of the square alarm clock's top",
+    "Press the top middle button of the small plastic alarm clock",
+    "Use the left arm to press the central button on the clock with white dial.",
+    "Click the button centered on the small clock with rounded edges.",
+    "Tap the dark blue clock's top button with the left arm",
+    "Hit the center of the blue clock with green stripe's top button",
+    "Use the left arm to activate the rounded square-shaped alarm clock's button",
+    "Push the center area of the square alarm clock's top",
+    "Click the center button on the square alarm clock's top side.",
+    "Tap the center button on the white-faced alarm clock.",
+    "Use the left arm to tap the small plastic alarm clock's top center button.",
+    "Locate and press the top button on the alarm clock with green stripe",
+    "Use the left arm to click the top of the palm-sized dark blue clock"
+  ],
+  "unseen": [
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode53.json b/click_alarmclock/demo_diverse/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..955dd31973c8d11736c04c2baad4ba8e33c54204
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the white-faced alarm clock's top center button",
+    "the left arm activates the blue clock with green stripe by clicking the top button",
+    "Activate the square alarm clock by clicking its top button",
+    "Press the center top button on the square alarm clock with the left arm",
+    "Click the center button on the white-faced alarm clock's top side.",
+    "Touch the small clock with rounded edges's center top button with the left arm",
+    "Use the left arm to activate the rounded square-shaped alarm clock's button",
+    "Use the left arm to tap the clock with white dial's top button center",
+    "Point the left arm to press the button of the alarm clock with green stripe.",
+    "Use the left arm to click the top of the square plastic alarm clock",
+    "Guide the left arm to press the centered button on the rounded square-shaped alarm clock.",
+    "Click the center of the alarm clock with green stripe's top",
+    "Use the left arm to press the center top of the small clock with rounded edges",
+    "Use the left arm to press the clock with white dial button",
+    "Press the center top button of the blue clock with green stripe",
+    "Use the left arm to press the small plastic alarm clock's top center button.",
+    "Press the top button in the palm-sized dark blue clock's center.",
+    "Use the left arm to tap the rounded square-shaped alarm clock's central button.",
+    "Direct the left arm to click the button found on the small clock with rounded edges.",
+    "Click the top center button of the white-faced alarm clock",
+    "Press the clock with white dial's top button using the left arm",
+    "Push the button on the dark blue clock's top center.",
+    "Tap the center button on the rounded square-shaped alarm clock.",
+    "Click the palm-sized dark blue clock's top center button using the left arm.",
+    "Push the center area of the square alarm clock's top",
+    "Tap the button at the clock with white dial's top center.",
+    "Push the top button of the small plastic alarm clock using the left arm",
+    "the left arm clicks the center top button on the dark blue clock",
+    "the left arm presses the center top button on the blue clock with green stripe",
+    "Use the left arm to press the square plastic alarm clock's top button",
+    "Push the central button on the square alarm clock's top side.",
+    "Ensure the left arm clicks the top center button of the small clock with rounded edges",
+    "Use the left arm to click the top center button on the small clock with rounded edges.",
+    "Click the middle button on the small clock with rounded edges's top side",
+    "Push the top button on the blue clock with green stripe",
+    "Press the button on the clock with white dial's top side",
+    "Hit the center of the clock with white dial's top button",
+    "Press the top button at the white-faced alarm clock's center.",
+    "Touch the small plastic alarm clock's button on the top side.",
+    "Use the left arm to click the center button on the dark blue clock",
+    "Click the button centered on the alarm clock with green stripe.",
+    "Activate the square alarm clock by pressing its top",
+    "Tap the rounded square-shaped alarm clock's top button with the left arm",
+    "Activate the dark blue clock by pressing the top button",
+    "Press the top middle button of the dark blue clock",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Click the button centered on the white-faced alarm clock's top.",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Use the left arm to tap the square alarm clock's top center button.",
+    "Use the left arm to press the central button on the square plastic alarm clock.",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "the left arm activates the palm-sized dark blue clock by clicking the top button",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Press the center top button on the rounded square-shaped alarm clock with the left arm",
+    "Click the center button on the square alarm clock's top side.",
+    "Touch the clock with white dial's center top button with the left arm",
+    "Use the left arm to activate the clock with white dial's button",
+    "Use the left arm to tap the palm-sized dark blue clock's top button center",
+    "Point the left arm to press the button of the alarm clock with green stripe.",
+    "Use the left arm to click the top of the small clock with rounded edges",
+    "Guide the left arm to press the centered button on the small clock with rounded edges.",
+    "Click the center of the clock with black hands's top",
+    "Use the left arm to press the center top of the rounded square-shaped alarm clock",
+    "Use the left arm to press the clock with black hands button",
+    "Press the center top button of the white-faced alarm clock",
+    "Use the left arm to press the blue clock with green stripe's top center button.",
+    "Press the top button in the blue clock with green stripe's center.",
+    "Use the left arm to tap the alarm clock with green stripe's central button.",
+    "Direct the left arm to click the button found on the palm-sized dark blue clock.",
+    "Click the top center button of the alarm clock with green stripe",
+    "Press the white-faced alarm clock's top button using the left arm",
+    "Push the button on the white-faced alarm clock's top center.",
+    "Tap the center button on the dark blue clock.",
+    "Click the clock with black hands's top center button using the left arm.",
+    "Push the center area of the small clock with rounded edges's top",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "Push the top button of the dark blue clock using the left arm",
+    "the left arm clicks the center top button on the clock with black hands",
+    "the left arm presses the center top button on the square plastic alarm clock",
+    "Use the left arm to press the blue clock with green stripe's top button",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Ensure the left arm clicks the top center button of the rounded square-shaped alarm clock",
+    "Use the left arm to click the top center button on the white-faced alarm clock.",
+    "Click the middle button on the dark blue clock's top side",
+    "Push the top button on the clock with white dial",
+    "Press the button on the square plastic alarm clock's top side",
+    "Hit the center of the rounded square-shaped alarm clock's top button",
+    "Press the top button at the small plastic alarm clock's center.",
+    "Touch the square alarm clock's button on the top side.",
+    "Use the left arm to click the center button on the small plastic alarm clock",
+    "Click the button centered on the square plastic alarm clock.",
+    "Activate the palm-sized dark blue clock by pressing its top",
+    "Tap the small clock with rounded edges's top button with the left arm",
+    "Activate the dark blue clock by pressing the top button",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Locate and press the top button on the small plastic alarm clock",
+    "Click the button centered on the clock with black hands's top.",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Use the left arm to tap the small plastic alarm clock's top center button.",
+    "Use the left arm to press the central button on the clock with white dial."
+  ],
+  "unseen": [
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode54.json b/click_alarmclock/demo_diverse/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..056eb1bfac38afd96b24aa47791ea92350b07c73
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the button at the small alarm-clock's top center.",
+    "Use the left arm to press the center top of the lightweight plastic alarm-clock",
+    "Push the top button on the smooth black alarm-clock",
+    "Tap the compact alarm-clock's top button with the left arm",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Guide the left arm to press the centered button on the small alarm-clock.",
+    "Use the left arm to tap the alarm-clock with buttons on side's central button.",
+    "Use the left arm to press the alarm-clock with digital display's top center button.",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Point the left arm to press the button of the compact alarm-clock.",
+    "Activate the black matte alarm-clock by pressing its top",
+    "Use the left arm to click the top of the digital screen alarm-clock",
+    "Press the top button in the black matte alarm-clock's center.",
+    "Click the top center button of the small alarm-clock",
+    "Click the smooth black alarm-clock's top center button using the left arm.",
+    "Hit the center of the small alarm-clock's top button",
+    "Click the button centered on the alarm-clock with rounded edges.",
+    "Use the left arm to tap the small alarm-clock's top center button.",
+    "Push the top button of the rectangular alarm-clock using the left arm",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "the left arm clicks the center top button on the digital screen alarm-clock",
+    "Use the left arm to activate the small alarm-clock's button",
+    "Touch the digital screen alarm-clock's center top button with the left arm",
+    "Direct the left arm to click the button found on the alarm-clock with buttons on side.",
+    "Use the left arm to press the central button on the alarm-clock with buttons on side.",
+    "Use the left arm to click the center button on the rectangular alarm-clock",
+    "Push the central button on the lightweight plastic alarm-clock's top side.",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Tap the center button on the alarm-clock with rounded edges.",
+    "Use the left arm to press the compact alarm-clock's top button",
+    "Use the left arm to click the top center button on the rectangular alarm-clock.",
+    "Ensure the left arm clicks the top center button of the rectangular alarm-clock",
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Press the smooth black alarm-clock's top button using the left arm",
+    "Use the left arm to tap the alarm-clock with rounded edges's top button center",
+    "Press the center top button on the small alarm-clock with the left arm",
+    "Press the top button at the compact alarm-clock's center.",
+    "Press the center button on the alarm-clock with buttons on side's top.",
+    "Locate and press the top button on the smooth black alarm-clock",
+    "Press the center top button of the black alarm-clock",
+    "Activate the alarm-clock with digital display by clicking its top button",
+    "Press the top middle button of the small alarm-clock",
+    "Use the left arm to press the palm-sized alarm-clock button",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "the left arm activates the alarm-clock with buttons on side by clicking the top button",
+    "Press the button on the lightweight plastic alarm-clock's top side",
+    "Touch the black matte alarm-clock's button on the top side.",
+    "Click the center button on the digital screen alarm-clock's top side.",
+    "the left arm presses the center top button on the small alarm-clock",
+    "Push the center area of the black matte alarm-clock's top",
+    "Tap the button at the alarm-clock with rounded edges's top center.",
+    "Use the left arm to press the center top of the small alarm-clock",
+    "Push the top button on the smooth black alarm-clock",
+    "Tap the lightweight plastic alarm-clock's top button with the left arm",
+    "Click the middle button on the digital screen alarm-clock's top side",
+    "Guide the left arm to press the centered button on the compact alarm-clock.",
+    "Use the left arm to tap the alarm-clock with rounded edges's central button.",
+    "Use the left arm to press the lightweight plastic alarm-clock's top center button.",
+    "Click the center of the black alarm-clock's top",
+    "Point the left arm to press the button of the digital screen alarm-clock.",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Use the left arm to click the top of the smooth black alarm-clock",
+    "Press the top button in the black matte alarm-clock's center.",
+    "Click the top center button of the alarm-clock with digital display",
+    "Click the smooth black alarm-clock's top center button using the left arm.",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Click the button centered on the alarm-clock with digital display.",
+    "Use the left arm to tap the alarm-clock with digital display's top center button.",
+    "Push the top button of the alarm-clock with digital display using the left arm",
+    "Push the button on the alarm-clock with digital display's top center.",
+    "the left arm clicks the center top button on the small alarm-clock",
+    "Use the left arm to activate the digital screen alarm-clock's button",
+    "Touch the alarm-clock with digital display's center top button with the left arm",
+    "Direct the left arm to click the button found on the black matte alarm-clock.",
+    "Use the left arm to press the central button on the smooth black alarm-clock.",
+    "Use the left arm to click the center button on the alarm-clock with digital display",
+    "Push the central button on the black alarm-clock's top side.",
+    "Locate and press the alarm-clock with buttons on side's top center button",
+    "Tap the center button on the digital screen alarm-clock.",
+    "Use the left arm to press the rectangular alarm-clock's top button",
+    "Use the left arm to click the top center button on the lightweight plastic alarm-clock.",
+    "Ensure the left arm clicks the top center button of the compact alarm-clock",
+    "Click the button centered on the small alarm-clock's top.",
+    "Press the black matte alarm-clock's top button using the left arm",
+    "Use the left arm to tap the compact alarm-clock's top button center",
+    "Press the center top button on the smooth black alarm-clock with the left arm",
+    "Press the top button at the compact alarm-clock's center.",
+    "Press the center button on the lightweight plastic alarm-clock's top.",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Press the center top button of the palm-sized alarm-clock",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Use the left arm to press the small alarm-clock button",
+    "Activate the digital screen alarm-clock by pressing the top button",
+    "the left arm activates the compact alarm-clock by clicking the top button",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Touch the black matte alarm-clock's button on the top side.",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "the left arm presses the center top button on the black matte alarm-clock",
+    "Push the center area of the smooth black alarm-clock's top"
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode55.json b/click_alarmclock/demo_diverse/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..f02470191de027a4f9b170d64fec3d64c6a5e4cf
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Use the left arm to tap the small alarm-clock's top button center",
+    "Use the left arm to press the central button on the black alarm-clock.",
+    "Activate the rectangular alarm-clock by clicking its top button",
+    "Press the button on the digital screen alarm-clock's top side",
+    "Activate the black alarm-clock by pressing its top",
+    "Click the button centered on the compact alarm-clock.",
+    "Push the top button of the alarm-clock with buttons on side using the left arm",
+    "Click the button centered on the black matte alarm-clock's top.",
+    "Use the left arm to press the rectangular alarm-clock's top center button.",
+    "Press the center button on the digital screen alarm-clock's top.",
+    "Press the compact alarm-clock's top button using the left arm",
+    "Use the left arm to tap the lightweight plastic alarm-clock's central button.",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Use the left arm to tap the rectangular alarm-clock's top center button.",
+    "Tap the palm-sized alarm-clock's top button with the left arm",
+    "the left arm clicks the center top button on the small alarm-clock",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Click the lightweight plastic alarm-clock's top center button using the left arm.",
+    "Tap the button at the digital screen alarm-clock's top center.",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Press the center top button on the black matte alarm-clock with the left arm",
+    "Use the left arm to press the compact alarm-clock's top button",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Push the button on the alarm-clock with buttons on side's top center.",
+    "Use the left arm to click the center button on the black alarm-clock",
+    "Tap the center button on the compact alarm-clock.",
+    "Touch the black alarm-clock's center top button with the left arm",
+    "Press the center top button of the alarm-clock with buttons on side",
+    "the left arm activates the compact alarm-clock by clicking the top button",
+    "Locate and press the top button on the palm-sized alarm-clock",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Click the middle button on the rectangular alarm-clock's top side",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "Use the left arm to press the center top of the black matte alarm-clock",
+    "Touch the alarm-clock with rounded edges's button on the top side.",
+    "Press the top middle button of the black matte alarm-clock",
+    "Push the center area of the black matte alarm-clock's top",
+    "the left arm presses the center top button on the black matte alarm-clock",
+    "Use the left arm to press the alarm-clock with rounded edges button",
+    "Use the left arm to click the top center button on the smooth black alarm-clock.",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "Push the top button on the palm-sized alarm-clock",
+    "Point the left arm to press the button of the black matte alarm-clock.",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Direct the left arm to click the button found on the alarm-clock with buttons on side.",
+    "Click the top center button of the black matte alarm-clock",
+    "Ensure the left arm clicks the top center button of the small alarm-clock",
+    "Use the left arm to activate the lightweight plastic alarm-clock's button",
+    "Guide the left arm to press the centered button on the digital screen alarm-clock.",
+    "Press the top button in the small alarm-clock's center.",
+    "Use the left arm to tap the alarm-clock with digital display's top button center",
+    "Use the left arm to press the central button on the palm-sized alarm-clock.",
+    "Activate the alarm-clock with rounded edges by clicking its top button",
+    "Press the button on the compact alarm-clock's top side",
+    "Activate the black matte alarm-clock by pressing its top",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "Push the top button of the compact alarm-clock using the left arm",
+    "Click the button centered on the rectangular alarm-clock's top.",
+    "Use the left arm to press the smooth black alarm-clock's top center button.",
+    "Press the center button on the alarm-clock with digital display's top.",
+    "Press the palm-sized alarm-clock's top button using the left arm",
+    "Use the left arm to tap the palm-sized alarm-clock's central button.",
+    "Hit the center of the black matte alarm-clock's top button",
+    "Use the left arm to tap the palm-sized alarm-clock's top center button.",
+    "Tap the alarm-clock with digital display's top button with the left arm",
+    "the left arm clicks the center top button on the alarm-clock with rounded edges",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "Click the alarm-clock with digital display's top center button using the left arm.",
+    "Tap the button at the lightweight plastic alarm-clock's top center.",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Press the center top button on the palm-sized alarm-clock with the left arm",
+    "Use the left arm to press the black alarm-clock's top button",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Use the left arm to click the center button on the compact alarm-clock",
+    "Tap the center button on the lightweight plastic alarm-clock.",
+    "Touch the lightweight plastic alarm-clock's center top button with the left arm",
+    "Press the center top button of the digital screen alarm-clock",
+    "the left arm activates the palm-sized alarm-clock by clicking the top button",
+    "Locate and press the top button on the palm-sized alarm-clock",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Click the middle button on the small alarm-clock's top side",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Use the left arm to press the center top of the small alarm-clock",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Press the top middle button of the digital screen alarm-clock",
+    "Push the center area of the black alarm-clock's top",
+    "the left arm presses the center top button on the palm-sized alarm-clock",
+    "Use the left arm to press the alarm-clock with rounded edges button",
+    "Use the left arm to click the top center button on the rectangular alarm-clock.",
+    "Use the left arm to click the top of the smooth black alarm-clock",
+    "Push the top button on the black matte alarm-clock",
+    "Point the left arm to press the button of the digital screen alarm-clock.",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Direct the left arm to click the button found on the lightweight plastic alarm-clock.",
+    "Click the top center button of the smooth black alarm-clock",
+    "Ensure the left arm clicks the top center button of the lightweight plastic alarm-clock",
+    "Use the left arm to activate the smooth black alarm-clock's button",
+    "Guide the left arm to press the centered button on the alarm-clock with rounded edges."
+  ],
+  "unseen": [
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode56.json b/click_alarmclock/demo_diverse/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c5a707e4ef85c8e63c6cd84603251d068d51c30
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to click the top of the white-faced alarm clock",
+    "Hit the center of the square alarm clock's top button",
+    "Use the left arm to press the small plastic alarm clock's top button",
+    "Use the left arm to tap the square alarm clock's central button.",
+    "Click the center button on the white-faced alarm clock's top side.",
+    "Push the button on the dark blue clock's top center.",
+    "Press the top middle button of the clock with white dial",
+    "Direct the left arm to click the button found on the small clock with rounded edges.",
+    "Activate the clock with black hands by pressing its top",
+    "Click the middle button on the palm-sized dark blue clock's top side",
+    "Use the left arm to press the central button on the dark blue clock.",
+    "Locate and press the top button on the small clock with rounded edges",
+    "Push the top button of the blue clock with green stripe using the left arm",
+    "the left arm presses the center top button on the small clock with rounded edges",
+    "Tap the center button on the clock with black hands.",
+    "Click the center of the blue clock with green stripe's top",
+    "Push the central button on the palm-sized dark blue clock's top side.",
+    "Use the left arm to tap the alarm clock with green stripe's top center button.",
+    "Point the left arm to press the button of the blue clock with green stripe.",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Use the left arm to press the square alarm clock button",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Click the top center button of the clock with black hands",
+    "Press the center top button of the square alarm clock",
+    "Click the button centered on the small clock with rounded edges's top.",
+    "Use the left arm to press the small plastic alarm clock's top center button.",
+    "Use the left arm to click the center button on the alarm clock with green stripe",
+    "Use the left arm to tap the small plastic alarm clock's top button center",
+    "Guide the left arm to press the centered button on the alarm clock with green stripe.",
+    "Click the button centered on the blue clock with green stripe.",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Tap the button at the palm-sized dark blue clock's top center.",
+    "Use the left arm to click the top center button on the small clock with rounded edges.",
+    "Ensure the left arm clicks the top center button of the blue clock with green stripe",
+    "Use the left arm to press the center top of the dark blue clock",
+    "Push the top button on the small clock with rounded edges",
+    "Press the clock with white dial's top button using the left arm",
+    "the left arm activates the alarm clock with green stripe by clicking the top button",
+    "Press the top button in the clock with white dial's center.",
+    "Activate the small plastic alarm clock by pressing the top button",
+    "Press the center top button on the alarm clock with green stripe with the left arm",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Click the clock with white dial's top center button using the left arm.",
+    "Press the top button at the clock with black hands's center.",
+    "Tap the white-faced alarm clock's top button with the left arm",
+    "Press the button on the clock with black hands's top side",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "the left arm clicks the center top button on the square plastic alarm clock",
+    "Use the left arm to activate the palm-sized dark blue clock's button",
+    "Touch the square plastic alarm clock's center top button with the left arm",
+    "Use the left arm to click the top of the clock with black hands",
+    "Hit the center of the dark blue clock's top button",
+    "Use the left arm to press the square alarm clock's top button",
+    "Use the left arm to tap the square plastic alarm clock's central button.",
+    "Click the center button on the clock with white dial's top side.",
+    "Push the button on the alarm clock with green stripe's top center.",
+    "Press the top middle button of the white-faced alarm clock",
+    "Direct the left arm to click the button found on the alarm clock with green stripe.",
+    "Activate the clock with white dial by pressing its top",
+    "Click the middle button on the small plastic alarm clock's top side",
+    "Use the left arm to press the central button on the square plastic alarm clock.",
+    "Locate and press the top button on the alarm clock with green stripe",
+    "Push the top button of the clock with white dial using the left arm",
+    "the left arm presses the center top button on the rounded square-shaped alarm clock",
+    "Tap the center button on the square plastic alarm clock.",
+    "Click the center of the alarm clock with green stripe's top",
+    "Push the central button on the small plastic alarm clock's top side.",
+    "Use the left arm to tap the square alarm clock's top center button.",
+    "Point the left arm to press the button of the clock with white dial.",
+    "Push the center area of the blue clock with green stripe's top",
+    "Use the left arm to press the clock with black hands button",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Click the top center button of the square plastic alarm clock",
+    "Press the center top button of the square alarm clock",
+    "Click the button centered on the alarm clock with green stripe's top.",
+    "Use the left arm to press the blue clock with green stripe's top center button.",
+    "Use the left arm to click the center button on the alarm clock with green stripe",
+    "Use the left arm to tap the clock with black hands's top button center",
+    "Guide the left arm to press the centered button on the clock with black hands.",
+    "Click the button centered on the small plastic alarm clock.",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Use the left arm to click the top center button on the small plastic alarm clock.",
+    "Ensure the left arm clicks the top center button of the square plastic alarm clock",
+    "Use the left arm to press the center top of the palm-sized dark blue clock",
+    "Push the top button on the clock with white dial",
+    "Press the clock with black hands's top button using the left arm",
+    "the left arm activates the small clock with rounded edges by clicking the top button",
+    "Press the top button in the clock with white dial's center.",
+    "Activate the alarm clock with green stripe by pressing the top button",
+    "Press the center top button on the small plastic alarm clock with the left arm",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Click the clock with black hands's top center button using the left arm.",
+    "Press the top button at the dark blue clock's center.",
+    "Tap the white-faced alarm clock's top button with the left arm",
+    "Press the button on the alarm clock with green stripe's top side",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "the left arm clicks the center top button on the square alarm clock",
+    "Use the left arm to activate the palm-sized dark blue clock's button",
+    "Touch the clock with white dial's center top button with the left arm"
+  ],
+  "unseen": [
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the blue alarm clock.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode57.json b/click_alarmclock/demo_diverse/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..58d313392c5c522d9cc3c32e750b7304f9cdccd9
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the top button of the compact alarm-clock using the right arm",
+    "Click the center of the palm-sized alarm-clock's top",
+    "Press the alarm-clock with digital display's top button using the right arm",
+    "Push the button on the palm-sized alarm-clock's top center.",
+    "Use the right arm to press the alarm-clock with digital display's top button",
+    "the right arm presses the center top button on the smooth black alarm-clock",
+    "Push the top button on the palm-sized alarm-clock",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Press the button on the black matte alarm-clock's top side",
+    "Use the right arm to press the palm-sized alarm-clock's top center button.",
+    "Press the top middle button of the alarm-clock with buttons on side",
+    "Click the lightweight plastic alarm-clock's top center button using the right arm.",
+    "Use the right arm to press the center top of the alarm-clock with buttons on side",
+    "Click the button centered on the small alarm-clock's top.",
+    "Direct the right arm to click the button found on the smooth black alarm-clock.",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Use the right arm to tap the digital screen alarm-clock's top button center",
+    "Press the top button at the compact alarm-clock's center.",
+    "Push the central button on the black alarm-clock's top side.",
+    "the right arm activates the black matte alarm-clock by clicking the top button",
+    "Guide the right arm to press the centered button on the alarm-clock with buttons on side.",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "Locate and press the small alarm-clock's top center button",
+    "Hit the center of the black matte alarm-clock's top button",
+    "Use the right arm to press the central button on the rectangular alarm-clock.",
+    "Click the top center button of the black alarm-clock",
+    "Ensure the right arm clicks the top center button of the black alarm-clock",
+    "Click the center button on the palm-sized alarm-clock's top side.",
+    "Point the right arm to press the button of the lightweight plastic alarm-clock.",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "Use the right arm to press the palm-sized alarm-clock button",
+    "Press the center top button of the black matte alarm-clock",
+    "Tap the center button on the digital screen alarm-clock.",
+    "Use the right arm to click the top of the small alarm-clock",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Touch the alarm-clock with rounded edges's center top button with the right arm",
+    "Use the right arm to tap the alarm-clock with digital display's top center button.",
+    "the right arm clicks the center top button on the small alarm-clock",
+    "Use the right arm to click the center button on the smooth black alarm-clock",
+    "Click the button centered on the digital screen alarm-clock.",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "Press the center button on the lightweight plastic alarm-clock's top.",
+    "Tap the button at the small alarm-clock's top center.",
+    "Press the center top button on the black matte alarm-clock with the right arm",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Use the right arm to tap the palm-sized alarm-clock's central button.",
+    "Use the right arm to click the top center button on the alarm-clock with buttons on side.",
+    "Click the middle button on the small alarm-clock's top side",
+    "Use the right arm to activate the lightweight plastic alarm-clock's button",
+    "Tap the digital screen alarm-clock's top button with the right arm",
+    "Push the top button of the small alarm-clock using the right arm",
+    "Click the center of the black matte alarm-clock's top",
+    "Press the palm-sized alarm-clock's top button using the right arm",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Use the right arm to press the alarm-clock with buttons on side's top button",
+    "the right arm presses the center top button on the compact alarm-clock",
+    "Push the top button on the smooth black alarm-clock",
+    "Activate the black alarm-clock by pressing its top",
+    "Press the button on the alarm-clock with digital display's top side",
+    "Use the right arm to press the smooth black alarm-clock's top center button.",
+    "Press the top middle button of the black matte alarm-clock",
+    "Click the palm-sized alarm-clock's top center button using the right arm.",
+    "Use the right arm to press the center top of the black matte alarm-clock",
+    "Click the button centered on the smooth black alarm-clock's top.",
+    "Direct the right arm to click the button found on the lightweight plastic alarm-clock.",
+    "Locate and press the top button on the small alarm-clock",
+    "Use the right arm to tap the black matte alarm-clock's top button center",
+    "Press the top button at the black alarm-clock's center.",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "the right arm activates the rectangular alarm-clock by clicking the top button",
+    "Guide the right arm to press the centered button on the alarm-clock with digital display.",
+    "Activate the digital screen alarm-clock by pressing the top button",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Hit the center of the compact alarm-clock's top button",
+    "Use the right arm to press the central button on the compact alarm-clock.",
+    "Click the top center button of the smooth black alarm-clock",
+    "Ensure the right arm clicks the top center button of the black alarm-clock",
+    "Click the center button on the small alarm-clock's top side.",
+    "Point the right arm to press the button of the black matte alarm-clock.",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "Use the right arm to press the black matte alarm-clock button",
+    "Press the center top button of the alarm-clock with buttons on side",
+    "Tap the center button on the compact alarm-clock.",
+    "Use the right arm to click the top of the compact alarm-clock",
+    "Push the center area of the compact alarm-clock's top",
+    "Touch the alarm-clock with rounded edges's center top button with the right arm",
+    "Use the right arm to tap the alarm-clock with digital display's top center button.",
+    "the right arm clicks the center top button on the digital screen alarm-clock",
+    "Use the right arm to click the center button on the alarm-clock with rounded edges",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "Press the center button on the smooth black alarm-clock's top.",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Press the center top button on the black matte alarm-clock with the right arm",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Use the right arm to tap the alarm-clock with digital display's central button.",
+    "Use the right arm to click the top center button on the lightweight plastic alarm-clock.",
+    "Click the middle button on the small alarm-clock's top side",
+    "Use the right arm to activate the black matte alarm-clock's button",
+    "Tap the black matte alarm-clock's top button with the right arm"
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode58.json b/click_alarmclock/demo_diverse/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ebd4b8272da966acaa978587e5c5c70fd75d1cb
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to click the center button on the rectangular alarm-clock",
+    "Click the top center button of the small alarm-clock",
+    "Activate the smooth black alarm-clock by clicking its top button",
+    "Use the left arm to tap the palm-sized alarm-clock's top button center",
+    "Touch the smooth black alarm-clock's button on the top side.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Press the alarm-clock with rounded edges's top button using the left arm",
+    "Guide the left arm to press the centered button on the palm-sized alarm-clock.",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Press the top button in the alarm-clock with buttons on side's center.",
+    "the left arm presses the center top button on the compact alarm-clock",
+    "Use the left arm to press the black matte alarm-clock's top center button.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Press the center top button of the black matte alarm-clock",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Locate and press the top button on the small alarm-clock",
+    "Use the left arm to tap the black matte alarm-clock's central button.",
+    "Click the center of the black matte alarm-clock's top",
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Tap the button at the alarm-clock with rounded edges's top center.",
+    "Use the left arm to tap the black alarm-clock's top center button.",
+    "Use the left arm to click the top of the digital screen alarm-clock",
+    "Click the center button on the compact alarm-clock's top side.",
+    "Tap the digital screen alarm-clock's top button with the left arm",
+    "Use the left arm to press the center top of the alarm-clock with digital display",
+    "Press the top button at the rectangular alarm-clock's center.",
+    "the left arm clicks the center top button on the small alarm-clock",
+    "Push the top button of the compact alarm-clock using the left arm",
+    "Direct the left arm to click the button found on the rectangular alarm-clock.",
+    "Push the top button on the rectangular alarm-clock",
+    "Use the left arm to press the digital screen alarm-clock's top button",
+    "Push the central button on the black alarm-clock's top side.",
+    "Use the left arm to click the top center button on the alarm-clock with rounded edges.",
+    "Press the center top button on the alarm-clock with digital display with the left arm",
+    "Use the left arm to press the central button on the alarm-clock with buttons on side.",
+    "Touch the lightweight plastic alarm-clock's center top button with the left arm",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "Ensure the left arm clicks the top center button of the smooth black alarm-clock",
+    "Locate and press the smooth black alarm-clock's top center button",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Use the left arm to activate the compact alarm-clock's button",
+    "Tap the center button on the small alarm-clock.",
+    "the left arm activates the black alarm-clock by clicking the top button",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Click the black matte alarm-clock's top center button using the left arm.",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Point the left arm to press the button of the compact alarm-clock.",
+    "Use the left arm to press the compact alarm-clock button",
+    "Use the left arm to click the center button on the digital screen alarm-clock",
+    "Click the top center button of the rectangular alarm-clock",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Use the left arm to tap the alarm-clock with buttons on side's top button center",
+    "Touch the smooth black alarm-clock's button on the top side.",
+    "Push the center area of the black matte alarm-clock's top",
+    "Press the alarm-clock with buttons on side's top button using the left arm",
+    "Guide the left arm to press the centered button on the alarm-clock with buttons on side.",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Press the top button in the alarm-clock with buttons on side's center.",
+    "the left arm presses the center top button on the alarm-clock with digital display",
+    "Use the left arm to press the digital screen alarm-clock's top center button.",
+    "Activate the alarm-clock with buttons on side by pressing its top",
+    "Press the center top button of the digital screen alarm-clock",
+    "Press the center button on the alarm-clock with digital display's top.",
+    "Locate and press the top button on the lightweight plastic alarm-clock",
+    "Use the left arm to tap the small alarm-clock's central button.",
+    "Click the center of the digital screen alarm-clock's top",
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Tap the button at the digital screen alarm-clock's top center.",
+    "Use the left arm to tap the black alarm-clock's top center button.",
+    "Use the left arm to click the top of the black alarm-clock",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "Tap the alarm-clock with buttons on side's top button with the left arm",
+    "Use the left arm to press the center top of the palm-sized alarm-clock",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "the left arm clicks the center top button on the lightweight plastic alarm-clock",
+    "Push the top button of the rectangular alarm-clock using the left arm",
+    "Direct the left arm to click the button found on the digital screen alarm-clock.",
+    "Push the top button on the small alarm-clock",
+    "Use the left arm to press the black alarm-clock's top button",
+    "Push the central button on the black alarm-clock's top side.",
+    "Use the left arm to click the top center button on the alarm-clock with buttons on side.",
+    "Press the center top button on the palm-sized alarm-clock with the left arm",
+    "Use the left arm to press the central button on the digital screen alarm-clock.",
+    "Touch the alarm-clock with rounded edges's center top button with the left arm",
+    "Push the button on the black alarm-clock's top center.",
+    "Ensure the left arm clicks the top center button of the rectangular alarm-clock",
+    "Locate and press the compact alarm-clock's top center button",
+    "Activate the black alarm-clock by pressing the top button",
+    "Press the top middle button of the alarm-clock with buttons on side",
+    "Use the left arm to activate the alarm-clock with buttons on side's button",
+    "Tap the center button on the black matte alarm-clock.",
+    "the left arm activates the alarm-clock with digital display by clicking the top button",
+    "Click the button centered on the digital screen alarm-clock.",
+    "Click the compact alarm-clock's top center button using the left arm.",
+    "Hit the center of the palm-sized alarm-clock's top button",
+    "Point the left arm to press the button of the small alarm-clock.",
+    "Use the left arm to press the black matte alarm-clock button"
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode6.json b/click_alarmclock/demo_diverse/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d141145669d69f56055fc75d748174a48bc72ef
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to tap the smooth black alarm-clock's top button center",
+    "Activate the alarm-clock with rounded edges by pressing its top",
+    "Push the top button on the alarm-clock with digital display",
+    "Guide the left arm to press the centered button on the rectangular alarm-clock.",
+    "Use the left arm to press the small alarm-clock's top center button.",
+    "the left arm presses the center top button on the small alarm-clock",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Press the black matte alarm-clock's top button using the left arm",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Use the left arm to activate the alarm-clock with digital display's button",
+    "the left arm clicks the center top button on the small alarm-clock",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "the left arm activates the small alarm-clock by clicking the top button",
+    "Push the top button of the black alarm-clock using the left arm",
+    "Use the left arm to press the palm-sized alarm-clock's top button",
+    "Locate and press the black alarm-clock's top center button",
+    "Click the top center button of the alarm-clock with buttons on side",
+    "Press the center button on the digital screen alarm-clock's top.",
+    "Press the top button in the lightweight plastic alarm-clock's center.",
+    "Push the central button on the small alarm-clock's top side.",
+    "Use the left arm to tap the small alarm-clock's top center button.",
+    "Use the left arm to press the center top of the alarm-clock with rounded edges",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "Tap the button at the alarm-clock with buttons on side's top center.",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Point the left arm to press the button of the palm-sized alarm-clock.",
+    "Push the button on the rectangular alarm-clock's top center.",
+    "Ensure the left arm clicks the top center button of the black alarm-clock",
+    "Use the left arm to click the top center button on the rectangular alarm-clock.",
+    "Press the center top button on the digital screen alarm-clock with the left arm",
+    "Use the left arm to press the small alarm-clock button",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Touch the rectangular alarm-clock's button on the top side.",
+    "Use the left arm to click the center button on the alarm-clock with digital display",
+    "Push the center area of the black alarm-clock's top",
+    "Use the left arm to click the top of the digital screen alarm-clock",
+    "Tap the center button on the alarm-clock with buttons on side.",
+    "Press the top middle button of the small alarm-clock",
+    "Use the left arm to press the central button on the alarm-clock with digital display.",
+    "Use the left arm to tap the lightweight plastic alarm-clock's central button.",
+    "Click the button centered on the rectangular alarm-clock's top.",
+    "Click the center of the alarm-clock with rounded edges's top",
+    "Touch the palm-sized alarm-clock's center top button with the left arm",
+    "Tap the smooth black alarm-clock's top button with the left arm",
+    "Press the center top button of the alarm-clock with digital display",
+    "Direct the left arm to click the button found on the smooth black alarm-clock.",
+    "Click the smooth black alarm-clock's top center button using the left arm.",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top button center",
+    "Activate the digital screen alarm-clock by pressing its top",
+    "Push the top button on the black alarm-clock",
+    "Guide the left arm to press the centered button on the lightweight plastic alarm-clock.",
+    "Use the left arm to press the small alarm-clock's top center button.",
+    "the left arm presses the center top button on the compact alarm-clock",
+    "Activate the digital screen alarm-clock by pressing the top button",
+    "Press the rectangular alarm-clock's top button using the left arm",
+    "Activate the alarm-clock with digital display by clicking its top button",
+    "Use the left arm to activate the palm-sized alarm-clock's button",
+    "the left arm clicks the center top button on the palm-sized alarm-clock",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "the left arm activates the alarm-clock with rounded edges by clicking the top button",
+    "Push the top button of the black matte alarm-clock using the left arm",
+    "Use the left arm to press the digital screen alarm-clock's top button",
+    "Locate and press the black alarm-clock's top center button",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Press the center button on the lightweight plastic alarm-clock's top.",
+    "Press the top button in the digital screen alarm-clock's center.",
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Use the left arm to tap the smooth black alarm-clock's top center button.",
+    "Use the left arm to press the center top of the rectangular alarm-clock",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "Hit the center of the black matte alarm-clock's top button",
+    "Click the center button on the alarm-clock with buttons on side's top side.",
+    "Tap the button at the alarm-clock with digital display's top center.",
+    "Locate and press the top button on the smooth black alarm-clock",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Point the left arm to press the button of the black matte alarm-clock.",
+    "Push the button on the black alarm-clock's top center.",
+    "Ensure the left arm clicks the top center button of the digital screen alarm-clock",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Press the center top button on the alarm-clock with buttons on side with the left arm",
+    "Use the left arm to press the compact alarm-clock button",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Touch the small alarm-clock's button on the top side.",
+    "Use the left arm to click the center button on the small alarm-clock",
+    "Push the center area of the lightweight plastic alarm-clock's top",
+    "Use the left arm to click the top of the palm-sized alarm-clock",
+    "Tap the center button on the lightweight plastic alarm-clock.",
+    "Press the top middle button of the black alarm-clock",
+    "Use the left arm to press the central button on the digital screen alarm-clock.",
+    "Use the left arm to tap the alarm-clock with buttons on side's central button.",
+    "Click the button centered on the small alarm-clock's top.",
+    "Click the center of the digital screen alarm-clock's top",
+    "Touch the compact alarm-clock's center top button with the left arm",
+    "Tap the digital screen alarm-clock's top button with the left arm",
+    "Press the center top button of the compact alarm-clock",
+    "Direct the left arm to click the button found on the small alarm-clock.",
+    "Click the black alarm-clock's top center button using the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode60.json b/click_alarmclock/demo_diverse/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..19b33df02c7b82a52e88adb93d168a6e09c93f2c
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the button on the square alarm clock's top center.",
+    "Tap the button at the clock with white dial's top center.",
+    "Press the center button on the square plastic alarm clock's top.",
+    "Activate the small clock with rounded edges by clicking its top button",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Tap the center button on the small plastic alarm clock.",
+    "Use the left arm to tap the small plastic alarm clock's top center button.",
+    "Click the center button on the clock with black hands's top side.",
+    "Tap the small clock with rounded edges's top button with the left arm",
+    "Use the left arm to press the dark blue clock's top center button.",
+    "Click the middle button on the rounded square-shaped alarm clock's top side",
+    "Click the top center button of the dark blue clock",
+    "Push the top button on the white-faced alarm clock",
+    "Push the top button of the white-faced alarm clock using the left arm",
+    "Activate the clock with white dial by pressing the top button",
+    "Hit the center of the blue clock with green stripe's top button",
+    "Press the center top button of the clock with black hands",
+    "Touch the blue clock with green stripe's center top button with the left arm",
+    "the left arm presses the center top button on the clock with white dial",
+    "Press the button on the dark blue clock's top side",
+    "Use the left arm to click the top of the clock with black hands",
+    "Direct the left arm to click the button found on the palm-sized dark blue clock.",
+    "Locate and press the top button on the blue clock with green stripe",
+    "Use the left arm to tap the dark blue clock's central button.",
+    "Use the left arm to click the center button on the blue clock with green stripe",
+    "Use the left arm to press the central button on the clock with black hands.",
+    "the left arm clicks the center top button on the palm-sized dark blue clock",
+    "Use the left arm to press the blue clock with green stripe button",
+    "Guide the left arm to press the centered button on the blue clock with green stripe.",
+    "Push the center area of the clock with black hands's top",
+    "Click the square plastic alarm clock's top center button using the left arm.",
+    "Push the central button on the clock with black hands's top side.",
+    "Press the top middle button of the small clock with rounded edges",
+    "Click the button centered on the alarm clock with green stripe's top.",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Use the left arm to press the palm-sized dark blue clock's top button",
+    "Click the center of the square plastic alarm clock's top",
+    "Use the left arm to tap the clock with white dial's top button center",
+    "the left arm activates the square plastic alarm clock by clicking the top button",
+    "Point the left arm to press the button of the palm-sized dark blue clock.",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Touch the square plastic alarm clock's button on the top side.",
+    "Use the left arm to click the top center button on the palm-sized dark blue clock.",
+    "Press the top button at the dark blue clock's center.",
+    "Press the center top button on the clock with black hands with the left arm",
+    "Use the left arm to press the center top of the clock with black hands",
+    "Use the left arm to activate the blue clock with green stripe's button",
+    "Ensure the left arm clicks the top center button of the dark blue clock",
+    "Press the square alarm clock's top button using the left arm",
+    "Push the button on the clock with white dial's top center.",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "Press the top button in the square alarm clock's center.",
+    "Locate and press the palm-sized dark blue clock's top center button",
+    "Tap the center button on the rounded square-shaped alarm clock.",
+    "Use the left arm to tap the small plastic alarm clock's top center button.",
+    "Click the center button on the palm-sized dark blue clock's top side.",
+    "Tap the blue clock with green stripe's top button with the left arm",
+    "Use the left arm to press the palm-sized dark blue clock's top center button.",
+    "Click the middle button on the clock with black hands's top side",
+    "Click the top center button of the square plastic alarm clock",
+    "Push the top button on the blue clock with green stripe",
+    "Push the top button of the white-faced alarm clock using the left arm",
+    "Activate the small clock with rounded edges by pressing the top button",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Press the center top button of the dark blue clock",
+    "Touch the alarm clock with green stripe's center top button with the left arm",
+    "the left arm presses the center top button on the square alarm clock",
+    "Press the button on the white-faced alarm clock's top side",
+    "Use the left arm to click the top of the white-faced alarm clock",
+    "Direct the left arm to click the button found on the clock with white dial.",
+    "Locate and press the top button on the square plastic alarm clock",
+    "Use the left arm to tap the small clock with rounded edges's central button.",
+    "Use the left arm to click the center button on the small clock with rounded edges",
+    "Use the left arm to press the central button on the square plastic alarm clock.",
+    "the left arm clicks the center top button on the alarm clock with green stripe",
+    "Use the left arm to press the blue clock with green stripe button",
+    "Guide the left arm to press the centered button on the alarm clock with green stripe.",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "Click the blue clock with green stripe's top center button using the left arm.",
+    "Push the central button on the alarm clock with green stripe's top side.",
+    "Press the top middle button of the dark blue clock",
+    "Click the button centered on the dark blue clock's top.",
+    "Activate the square plastic alarm clock by pressing its top",
+    "Use the left arm to press the rounded square-shaped alarm clock's top button",
+    "Click the center of the alarm clock with green stripe's top",
+    "Use the left arm to tap the square plastic alarm clock's top button center",
+    "the left arm activates the rounded square-shaped alarm clock by clicking the top button",
+    "Point the left arm to press the button of the square alarm clock.",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Touch the dark blue clock's button on the top side.",
+    "Use the left arm to click the top center button on the rounded square-shaped alarm clock.",
+    "Press the top button at the white-faced alarm clock's center.",
+    "Press the center top button on the alarm clock with green stripe with the left arm",
+    "Use the left arm to press the center top of the white-faced alarm clock",
+    "Use the left arm to activate the blue clock with green stripe's button",
+    "Ensure the left arm clicks the top center button of the white-faced alarm clock",
+    "Press the clock with white dial's top button using the left arm"
+  ],
+  "unseen": [
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode62.json b/click_alarmclock/demo_diverse/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..12a47bd74c51c75b7d523449fc74461f54a15b0b
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the black matte alarm-clock's top button using the left arm",
+    "the left arm presses the center top button on the black matte alarm-clock",
+    "Touch the digital screen alarm-clock's button on the top side.",
+    "Use the left arm to press the center top of the small alarm-clock",
+    "Tap the center button on the black alarm-clock.",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Use the left arm to press the central button on the smooth black alarm-clock.",
+    "Click the button centered on the alarm-clock with rounded edges's top.",
+    "the left arm clicks the center top button on the small alarm-clock",
+    "Press the center top button on the rectangular alarm-clock with the left arm",
+    "Click the center of the smooth black alarm-clock's top",
+    "Push the top button on the lightweight plastic alarm-clock",
+    "Use the left arm to tap the digital screen alarm-clock's top center button.",
+    "Ensure the left arm clicks the top center button of the alarm-clock with digital display",
+    "Use the left arm to click the top of the black matte alarm-clock",
+    "Use the left arm to press the digital screen alarm-clock button",
+    "Push the button on the digital screen alarm-clock's top center.",
+    "Activate the black alarm-clock by pressing its top",
+    "Press the top button in the black matte alarm-clock's center.",
+    "Click the button centered on the lightweight plastic alarm-clock.",
+    "Press the button on the compact alarm-clock's top side",
+    "Press the center button on the alarm-clock with digital display's top.",
+    "Use the left arm to press the digital screen alarm-clock's top button",
+    "Tap the rectangular alarm-clock's top button with the left arm",
+    "Tap the button at the digital screen alarm-clock's top center.",
+    "Activate the smooth black alarm-clock by pressing the top button",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Use the left arm to activate the digital screen alarm-clock's button",
+    "Click the top center button of the palm-sized alarm-clock",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Locate and press the small alarm-clock's top center button",
+    "Point the left arm to press the button of the digital screen alarm-clock.",
+    "Use the left arm to press the palm-sized alarm-clock's top center button.",
+    "Press the top middle button of the alarm-clock with rounded edges",
+    "Direct the left arm to click the button found on the alarm-clock with rounded edges.",
+    "Use the left arm to click the center button on the black matte alarm-clock",
+    "Push the top button of the rectangular alarm-clock using the left arm",
+    "Use the left arm to click the top center button on the black alarm-clock.",
+    "Use the left arm to tap the alarm-clock with buttons on side's central button.",
+    "Touch the black matte alarm-clock's center top button with the left arm",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Locate and press the top button on the alarm-clock with digital display",
+    "Press the top button at the black alarm-clock's center.",
+    "Activate the rectangular alarm-clock by clicking its top button",
+    "Click the alarm-clock with buttons on side's top center button using the left arm.",
+    "Guide the left arm to press the centered button on the small alarm-clock.",
+    "Click the center button on the small alarm-clock's top side.",
+    "Hit the center of the compact alarm-clock's top button",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top button center",
+    "the left arm activates the smooth black alarm-clock by clicking the top button",
+    "Press the alarm-clock with rounded edges's top button using the left arm",
+    "the left arm presses the center top button on the rectangular alarm-clock",
+    "Touch the alarm-clock with buttons on side's button on the top side.",
+    "Use the left arm to press the center top of the alarm-clock with rounded edges",
+    "Tap the center button on the digital screen alarm-clock.",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Use the left arm to press the central button on the smooth black alarm-clock.",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "the left arm clicks the center top button on the rectangular alarm-clock",
+    "Press the center top button on the compact alarm-clock with the left arm",
+    "Click the center of the small alarm-clock's top",
+    "Push the top button on the black matte alarm-clock",
+    "Use the left arm to tap the digital screen alarm-clock's top center button.",
+    "Ensure the left arm clicks the top center button of the palm-sized alarm-clock",
+    "Use the left arm to click the top of the black matte alarm-clock",
+    "Use the left arm to press the small alarm-clock button",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "Activate the rectangular alarm-clock by pressing its top",
+    "Press the top button in the small alarm-clock's center.",
+    "Click the button centered on the small alarm-clock.",
+    "Press the button on the small alarm-clock's top side",
+    "Press the center button on the smooth black alarm-clock's top.",
+    "Use the left arm to press the lightweight plastic alarm-clock's top button",
+    "Tap the black alarm-clock's top button with the left arm",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Activate the alarm-clock with digital display by pressing the top button",
+    "Push the center area of the alarm-clock with digital display's top",
+    "Use the left arm to activate the black alarm-clock's button",
+    "Click the top center button of the alarm-clock with digital display",
+    "Push the central button on the rectangular alarm-clock's top side.",
+    "Locate and press the lightweight plastic alarm-clock's top center button",
+    "Point the left arm to press the button of the digital screen alarm-clock.",
+    "Use the left arm to press the alarm-clock with buttons on side's top center button.",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Direct the left arm to click the button found on the rectangular alarm-clock.",
+    "Use the left arm to click the center button on the compact alarm-clock",
+    "Push the top button of the rectangular alarm-clock using the left arm",
+    "Use the left arm to click the top center button on the alarm-clock with buttons on side.",
+    "Use the left arm to tap the black alarm-clock's central button.",
+    "Touch the black alarm-clock's center top button with the left arm",
+    "Click the middle button on the alarm-clock with buttons on side's top side",
+    "Locate and press the top button on the palm-sized alarm-clock",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Click the rectangular alarm-clock's top center button using the left arm.",
+    "Guide the left arm to press the centered button on the alarm-clock with rounded edges.",
+    "Click the center button on the black alarm-clock's top side.",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Use the left arm to tap the black matte alarm-clock's top button center",
+    "the left arm activates the alarm-clock with digital display by clicking the top button"
+  ],
+  "unseen": [
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode63.json b/click_alarmclock/demo_diverse/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcb6511dfc1b474535ceee92370af9c8c9a06a1d
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hit the center of the compact alarm-clock's top button",
+    "Touch the compact alarm-clock's center top button with the right arm",
+    "Tap the center button on the rectangular alarm-clock.",
+    "Click the center of the rectangular alarm-clock's top",
+    "Ensure the right arm clicks the top center button of the compact alarm-clock",
+    "Press the smooth black alarm-clock's top button using the right arm",
+    "the right arm clicks the center top button on the lightweight plastic alarm-clock",
+    "Tap the button at the lightweight plastic alarm-clock's top center.",
+    "Use the right arm to tap the black alarm-clock's top button center",
+    "Push the top button on the palm-sized alarm-clock",
+    "Use the right arm to click the center button on the alarm-clock with digital display",
+    "Click the top center button of the smooth black alarm-clock",
+    "Activate the alarm-clock with digital display by pressing the top button",
+    "Click the middle button on the black alarm-clock's top side",
+    "Click the alarm-clock with digital display's top center button using the right arm.",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Locate and press the lightweight plastic alarm-clock's top center button",
+    "Push the center area of the lightweight plastic alarm-clock's top",
+    "Direct the right arm to click the button found on the alarm-clock with rounded edges.",
+    "Push the button on the palm-sized alarm-clock's top center.",
+    "Touch the smooth black alarm-clock's button on the top side.",
+    "Press the top middle button of the black matte alarm-clock",
+    "Use the right arm to tap the compact alarm-clock's top center button.",
+    "Point the right arm to press the button of the lightweight plastic alarm-clock.",
+    "Use the right arm to tap the lightweight plastic alarm-clock's central button.",
+    "Click the center button on the black alarm-clock's top side.",
+    "Press the center top button on the rectangular alarm-clock with the right arm",
+    "Use the right arm to click the top center button on the lightweight plastic alarm-clock.",
+    "Push the top button of the rectangular alarm-clock using the right arm",
+    "Locate and press the top button on the compact alarm-clock",
+    "Click the button centered on the black alarm-clock's top.",
+    "Use the right arm to press the smooth black alarm-clock's top center button.",
+    "Press the top button at the compact alarm-clock's center.",
+    "Use the right arm to activate the black matte alarm-clock's button",
+    "the right arm activates the palm-sized alarm-clock by clicking the top button",
+    "Click the button centered on the black alarm-clock.",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Activate the black alarm-clock by clicking its top button",
+    "Activate the alarm-clock with rounded edges by pressing its top",
+    "Tap the black matte alarm-clock's top button with the right arm",
+    "Guide the right arm to press the centered button on the compact alarm-clock.",
+    "Use the right arm to press the alarm-clock with rounded edges's top button",
+    "Press the center button on the small alarm-clock's top.",
+    "Press the top button in the alarm-clock with digital display's center.",
+    "Use the right arm to press the central button on the palm-sized alarm-clock.",
+    "Use the right arm to press the smooth black alarm-clock button",
+    "the right arm presses the center top button on the alarm-clock with rounded edges",
+    "Use the right arm to click the top of the lightweight plastic alarm-clock",
+    "Use the right arm to press the center top of the black matte alarm-clock",
+    "Press the center top button of the alarm-clock with rounded edges",
+    "Hit the center of the palm-sized alarm-clock's top button",
+    "Touch the palm-sized alarm-clock's center top button with the right arm",
+    "Tap the center button on the compact alarm-clock.",
+    "Click the center of the small alarm-clock's top",
+    "Ensure the right arm clicks the top center button of the compact alarm-clock",
+    "Press the alarm-clock with buttons on side's top button using the right arm",
+    "the right arm clicks the center top button on the alarm-clock with digital display",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top button center",
+    "Push the top button on the alarm-clock with rounded edges",
+    "Use the right arm to click the center button on the alarm-clock with rounded edges",
+    "Click the top center button of the black matte alarm-clock",
+    "Activate the rectangular alarm-clock by pressing the top button",
+    "Click the middle button on the lightweight plastic alarm-clock's top side",
+    "Click the alarm-clock with digital display's top center button using the right arm.",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Direct the right arm to click the button found on the alarm-clock with digital display.",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Touch the alarm-clock with buttons on side's button on the top side.",
+    "Press the top middle button of the black matte alarm-clock",
+    "Use the right arm to tap the palm-sized alarm-clock's top center button.",
+    "Point the right arm to press the button of the alarm-clock with rounded edges.",
+    "Use the right arm to tap the rectangular alarm-clock's central button.",
+    "Click the center button on the small alarm-clock's top side.",
+    "Press the center top button on the black matte alarm-clock with the right arm",
+    "Use the right arm to click the top center button on the black matte alarm-clock.",
+    "Push the top button of the black alarm-clock using the right arm",
+    "Locate and press the top button on the compact alarm-clock",
+    "Click the button centered on the alarm-clock with digital display's top.",
+    "Use the right arm to press the compact alarm-clock's top center button.",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "Use the right arm to activate the palm-sized alarm-clock's button",
+    "the right arm activates the black matte alarm-clock by clicking the top button",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "Push the central button on the smooth black alarm-clock's top side.",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Tap the alarm-clock with rounded edges's top button with the right arm",
+    "Guide the right arm to press the centered button on the black matte alarm-clock.",
+    "Use the right arm to press the black alarm-clock's top button",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Use the right arm to press the central button on the palm-sized alarm-clock.",
+    "Use the right arm to press the lightweight plastic alarm-clock button",
+    "the right arm presses the center top button on the smooth black alarm-clock",
+    "Use the right arm to click the top of the alarm-clock with buttons on side",
+    "Use the right arm to press the center top of the rectangular alarm-clock",
+    "Press the center top button of the alarm-clock with digital display"
+  ],
+  "unseen": [
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode64.json b/click_alarmclock/demo_diverse/instructions/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4c5fb56db0e46627997aef2f50b542b268eacb8
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode64.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the central button on the dark blue clock's top side.",
+    "the left arm clicks the center top button on the alarm clock with green stripe",
+    "Locate and press the square alarm clock's top center button",
+    "Push the top button of the square plastic alarm clock using the left arm",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Use the left arm to click the center button on the small plastic alarm clock",
+    "Press the button on the white-faced alarm clock's top side",
+    "Use the left arm to tap the white-faced alarm clock's top center button.",
+    "Use the left arm to press the square plastic alarm clock's top center button.",
+    "Push the center area of the clock with white dial's top",
+    "Press the center top button on the palm-sized dark blue clock with the left arm",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Push the button on the small clock with rounded edges's top center.",
+    "Press the top button at the clock with white dial's center.",
+    "Use the left arm to click the top center button on the blue clock with green stripe.",
+    "the left arm presses the center top button on the clock with black hands",
+    "Use the left arm to tap the clock with black hands's central button.",
+    "Click the center button on the small plastic alarm clock's top side.",
+    "Touch the small clock with rounded edges's center top button with the left arm",
+    "Ensure the left arm clicks the top center button of the alarm clock with green stripe",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Click the top center button of the small clock with rounded edges",
+    "Use the left arm to tap the square alarm clock's top button center",
+    "Tap the center button on the white-faced alarm clock.",
+    "Direct the left arm to click the button found on the dark blue clock.",
+    "Push the top button on the small plastic alarm clock",
+    "Use the left arm to click the top of the alarm clock with green stripe",
+    "Use the left arm to press the center top of the clock with black hands",
+    "Guide the left arm to press the centered button on the dark blue clock.",
+    "Press the center button on the blue clock with green stripe's top.",
+    "Point the left arm to press the button of the rounded square-shaped alarm clock.",
+    "Click the white-faced alarm clock's top center button using the left arm.",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Press the center top button of the square plastic alarm clock",
+    "Click the center of the dark blue clock's top",
+    "Press the dark blue clock's top button using the left arm",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "Use the left arm to press the small clock with rounded edges's top button",
+    "Press the top button in the palm-sized dark blue clock's center.",
+    "Use the left arm to activate the rounded square-shaped alarm clock's button",
+    "Use the left arm to press the small plastic alarm clock button",
+    "the left arm activates the palm-sized dark blue clock by clicking the top button",
+    "Click the button centered on the clock with black hands.",
+    "Click the middle button on the blue clock with green stripe's top side",
+    "Press the top middle button of the square plastic alarm clock",
+    "Use the left arm to press the central button on the clock with white dial.",
+    "Locate and press the top button on the small plastic alarm clock",
+    "Tap the square alarm clock's top button with the left arm",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "Touch the small plastic alarm clock's button on the top side.",
+    "Push the central button on the palm-sized dark blue clock's top side.",
+    "the left arm clicks the center top button on the square plastic alarm clock",
+    "Locate and press the small plastic alarm clock's top center button",
+    "Push the top button of the white-faced alarm clock using the left arm",
+    "Activate the square alarm clock by pressing its top",
+    "Use the left arm to click the center button on the rounded square-shaped alarm clock",
+    "Press the button on the palm-sized dark blue clock's top side",
+    "Use the left arm to tap the square plastic alarm clock's top center button.",
+    "Use the left arm to press the square alarm clock's top center button.",
+    "Push the center area of the dark blue clock's top",
+    "Press the center top button on the small clock with rounded edges with the left arm",
+    "Click the button centered on the small plastic alarm clock's top.",
+    "Push the button on the square plastic alarm clock's top center.",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "Use the left arm to click the top center button on the clock with black hands.",
+    "the left arm presses the center top button on the clock with black hands",
+    "Use the left arm to tap the blue clock with green stripe's central button.",
+    "Click the center button on the rounded square-shaped alarm clock's top side.",
+    "Touch the blue clock with green stripe's center top button with the left arm",
+    "Ensure the left arm clicks the top center button of the palm-sized dark blue clock",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "Click the top center button of the dark blue clock",
+    "Use the left arm to tap the white-faced alarm clock's top button center",
+    "Tap the center button on the square plastic alarm clock.",
+    "Direct the left arm to click the button found on the small plastic alarm clock.",
+    "Push the top button on the blue clock with green stripe",
+    "Use the left arm to click the top of the rounded square-shaped alarm clock",
+    "Use the left arm to press the center top of the small clock with rounded edges",
+    "Guide the left arm to press the centered button on the square alarm clock.",
+    "Press the center button on the blue clock with green stripe's top.",
+    "Point the left arm to press the button of the alarm clock with green stripe.",
+    "Click the alarm clock with green stripe's top center button using the left arm.",
+    "Hit the center of the square alarm clock's top button",
+    "Press the center top button of the alarm clock with green stripe",
+    "Click the center of the small clock with rounded edges's top",
+    "Press the alarm clock with green stripe's top button using the left arm",
+    "Tap the button at the square alarm clock's top center.",
+    "Use the left arm to press the alarm clock with green stripe's top button",
+    "Press the top button in the rounded square-shaped alarm clock's center.",
+    "Use the left arm to activate the rounded square-shaped alarm clock's button",
+    "Use the left arm to press the alarm clock with green stripe button",
+    "the left arm activates the palm-sized dark blue clock by clicking the top button",
+    "Click the button centered on the small plastic alarm clock.",
+    "Click the middle button on the blue clock with green stripe's top side",
+    "Press the top middle button of the square alarm clock",
+    "Use the left arm to press the central button on the alarm clock with green stripe.",
+    "Locate and press the top button on the square plastic alarm clock",
+    "Tap the dark blue clock's top button with the left arm",
+    "Activate the square alarm clock by pressing the top button",
+    "Touch the dark blue clock's button on the top side."
+  ],
+  "unseen": [
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode65.json b/click_alarmclock/demo_diverse/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..02971356299265e21586627c2cfe9f1300a45c8e
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode65.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the button on the small alarm-clock's top side",
+    "Use the left arm to press the lightweight plastic alarm-clock button",
+    "Hit the center of the alarm-clock with rounded edges's top button",
+    "Use the left arm to press the center top of the small alarm-clock",
+    "Locate and press the top button on the alarm-clock with digital display",
+    "Point the left arm to press the button of the digital screen alarm-clock.",
+    "Activate the alarm-clock with rounded edges by clicking its top button",
+    "Direct the left arm to click the button found on the palm-sized alarm-clock.",
+    "Use the left arm to press the black matte alarm-clock's top button",
+    "Press the top button in the compact alarm-clock's center.",
+    "Push the top button of the compact alarm-clock using the left arm",
+    "the left arm activates the black matte alarm-clock by clicking the top button",
+    "Touch the small alarm-clock's button on the top side.",
+    "Use the left arm to click the center button on the smooth black alarm-clock",
+    "Click the top center button of the alarm-clock with digital display",
+    "Press the alarm-clock with digital display's top button using the left arm",
+    "Activate the small alarm-clock by pressing the top button",
+    "Press the top button at the palm-sized alarm-clock's center.",
+    "Activate the digital screen alarm-clock by pressing its top",
+    "Guide the left arm to press the centered button on the rectangular alarm-clock.",
+    "Ensure the left arm clicks the top center button of the lightweight plastic alarm-clock",
+    "Push the central button on the compact alarm-clock's top side.",
+    "Tap the center button on the lightweight plastic alarm-clock.",
+    "Press the center button on the black alarm-clock's top.",
+    "Use the left arm to click the top center button on the compact alarm-clock.",
+    "Click the rectangular alarm-clock's top center button using the left arm.",
+    "Press the center top button on the rectangular alarm-clock with the left arm",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Click the center button on the lightweight plastic alarm-clock's top side.",
+    "Tap the lightweight plastic alarm-clock's top button with the left arm",
+    "Push the button on the compact alarm-clock's top center.",
+    "Use the left arm to tap the black matte alarm-clock's top button center",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges.",
+    "Use the left arm to press the alarm-clock with digital display's top center button.",
+    "Touch the black alarm-clock's center top button with the left arm",
+    "Click the button centered on the alarm-clock with rounded edges's top.",
+    "Push the center area of the compact alarm-clock's top",
+    "the left arm presses the center top button on the alarm-clock with buttons on side",
+    "Use the left arm to click the top of the digital screen alarm-clock",
+    "Use the left arm to tap the lightweight plastic alarm-clock's central button.",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Click the button centered on the compact alarm-clock.",
+    "Locate and press the alarm-clock with rounded edges's top center button",
+    "Press the center top button of the alarm-clock with digital display",
+    "Push the top button on the black alarm-clock",
+    "Tap the button at the black matte alarm-clock's top center.",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Use the left arm to activate the alarm-clock with rounded edges's button",
+    "the left arm clicks the center top button on the palm-sized alarm-clock",
+    "Press the button on the compact alarm-clock's top side",
+    "Use the left arm to press the small alarm-clock button",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Use the left arm to press the center top of the black alarm-clock",
+    "Locate and press the top button on the palm-sized alarm-clock",
+    "Point the left arm to press the button of the alarm-clock with digital display.",
+    "Activate the palm-sized alarm-clock by clicking its top button",
+    "Direct the left arm to click the button found on the digital screen alarm-clock.",
+    "Use the left arm to press the compact alarm-clock's top button",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Push the top button of the black matte alarm-clock using the left arm",
+    "the left arm activates the alarm-clock with buttons on side by clicking the top button",
+    "Touch the alarm-clock with rounded edges's button on the top side.",
+    "Use the left arm to click the center button on the alarm-clock with rounded edges",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Press the palm-sized alarm-clock's top button using the left arm",
+    "Activate the smooth black alarm-clock by pressing the top button",
+    "Press the top button at the alarm-clock with rounded edges's center.",
+    "Activate the alarm-clock with buttons on side by pressing its top",
+    "Guide the left arm to press the centered button on the rectangular alarm-clock.",
+    "Ensure the left arm clicks the top center button of the small alarm-clock",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Tap the center button on the digital screen alarm-clock.",
+    "Press the center button on the compact alarm-clock's top.",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Click the black matte alarm-clock's top center button using the left arm.",
+    "Press the center top button on the black matte alarm-clock with the left arm",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Click the center button on the black alarm-clock's top side.",
+    "Tap the compact alarm-clock's top button with the left arm",
+    "Push the button on the alarm-clock with digital display's top center.",
+    "Use the left arm to tap the digital screen alarm-clock's top button center",
+    "Use the left arm to tap the small alarm-clock's top center button.",
+    "Use the left arm to press the central button on the alarm-clock with buttons on side.",
+    "Use the left arm to press the alarm-clock with buttons on side's top center button.",
+    "Touch the rectangular alarm-clock's center top button with the left arm",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Push the center area of the alarm-clock with buttons on side's top",
+    "the left arm presses the center top button on the black matte alarm-clock",
+    "Use the left arm to click the top of the lightweight plastic alarm-clock",
+    "Use the left arm to tap the rectangular alarm-clock's central button.",
+    "Click the middle button on the lightweight plastic alarm-clock's top side",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "Locate and press the black matte alarm-clock's top center button",
+    "Press the center top button of the smooth black alarm-clock",
+    "Push the top button on the small alarm-clock",
+    "Tap the button at the black matte alarm-clock's top center.",
+    "Click the center of the smooth black alarm-clock's top",
+    "Use the left arm to activate the alarm-clock with digital display's button",
+    "the left arm clicks the center top button on the alarm-clock with rounded edges"
+  ],
+  "unseen": [
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode66.json b/click_alarmclock/demo_diverse/instructions/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..2919044238cdd8da269470d38bed18f531023d83
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode66.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the top center button of the small clock with rounded edges",
+    "Tap the center button on the palm-sized dark blue clock.",
+    "Guide the right arm to press the centered button on the palm-sized dark blue clock.",
+    "Press the top button in the clock with white dial's center.",
+    "Locate and press the top button on the clock with black hands",
+    "Touch the blue clock with green stripe's button on the top side.",
+    "Use the right arm to press the small clock with rounded edges's top button",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Click the button centered on the small clock with rounded edges.",
+    "Push the central button on the white-faced alarm clock's top side.",
+    "Use the right arm to click the center button on the small clock with rounded edges",
+    "Click the center button on the rounded square-shaped alarm clock's top side.",
+    "Use the right arm to click the top center button on the blue clock with green stripe.",
+    "Use the right arm to press the center top of the alarm clock with green stripe",
+    "Activate the clock with white dial by clicking its top button",
+    "Locate and press the square alarm clock's top center button",
+    "Hit the center of the dark blue clock's top button",
+    "Click the palm-sized dark blue clock's top center button using the right arm.",
+    "Use the right arm to press the rounded square-shaped alarm clock's top center button.",
+    "Use the right arm to tap the alarm clock with green stripe's top button center",
+    "Press the center top button on the white-faced alarm clock with the right arm",
+    "Press the button on the square alarm clock's top side",
+    "Use the right arm to tap the square plastic alarm clock's central button.",
+    "Use the right arm to tap the dark blue clock's top center button.",
+    "the right arm presses the center top button on the small plastic alarm clock",
+    "Ensure the right arm clicks the top center button of the clock with white dial",
+    "Activate the blue clock with green stripe by pressing its top",
+    "Tap the dark blue clock's top button with the right arm",
+    "Press the center button on the square alarm clock's top.",
+    "Push the top button on the white-faced alarm clock",
+    "Click the middle button on the small plastic alarm clock's top side",
+    "Push the top button of the palm-sized dark blue clock using the right arm",
+    "Press the center top button of the palm-sized dark blue clock",
+    "Use the right arm to activate the dark blue clock's button",
+    "Press the clock with white dial's top button using the right arm",
+    "Push the button on the blue clock with green stripe's top center.",
+    "Press the top middle button of the white-faced alarm clock",
+    "Use the right arm to click the top of the clock with white dial",
+    "Click the center of the rounded square-shaped alarm clock's top",
+    "Click the button centered on the white-faced alarm clock's top.",
+    "Use the right arm to press the central button on the alarm clock with green stripe.",
+    "Press the top button at the square plastic alarm clock's center.",
+    "the right arm activates the rounded square-shaped alarm clock by clicking the top button",
+    "Touch the square alarm clock's center top button with the right arm",
+    "Direct the right arm to click the button found on the square plastic alarm clock.",
+    "Point the right arm to press the button of the small plastic alarm clock.",
+    "Activate the small clock with rounded edges by pressing the top button",
+    "Use the right arm to press the small plastic alarm clock button",
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Click the top center button of the clock with white dial",
+    "Tap the center button on the rounded square-shaped alarm clock.",
+    "Guide the right arm to press the centered button on the square alarm clock.",
+    "Press the top button in the clock with white dial's center.",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Touch the dark blue clock's button on the top side.",
+    "Use the right arm to press the small plastic alarm clock's top button",
+    "Tap the button at the square plastic alarm clock's top center.",
+    "Click the button centered on the square plastic alarm clock.",
+    "Push the central button on the rounded square-shaped alarm clock's top side.",
+    "Use the right arm to click the center button on the clock with white dial",
+    "Click the center button on the clock with black hands's top side.",
+    "Use the right arm to click the top center button on the square plastic alarm clock.",
+    "Use the right arm to press the center top of the clock with white dial",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Locate and press the clock with white dial's top center button",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Click the white-faced alarm clock's top center button using the right arm.",
+    "Use the right arm to press the square alarm clock's top center button.",
+    "Use the right arm to tap the alarm clock with green stripe's top button center",
+    "Press the center top button on the alarm clock with green stripe with the right arm",
+    "Press the button on the small clock with rounded edges's top side",
+    "Use the right arm to tap the square alarm clock's central button.",
+    "Use the right arm to tap the alarm clock with green stripe's top center button.",
+    "the right arm presses the center top button on the square alarm clock",
+    "Ensure the right arm clicks the top center button of the small clock with rounded edges",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Tap the palm-sized dark blue clock's top button with the right arm",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Push the top button on the dark blue clock",
+    "Click the middle button on the small plastic alarm clock's top side",
+    "Push the top button of the clock with white dial using the right arm",
+    "Press the center top button of the square alarm clock",
+    "Use the right arm to activate the clock with white dial's button",
+    "Press the clock with black hands's top button using the right arm",
+    "Push the button on the dark blue clock's top center.",
+    "Press the top middle button of the small clock with rounded edges",
+    "Use the right arm to click the top of the alarm clock with green stripe",
+    "Click the center of the clock with black hands's top",
+    "Click the button centered on the alarm clock with green stripe's top.",
+    "Use the right arm to press the central button on the blue clock with green stripe.",
+    "Press the top button at the dark blue clock's center.",
+    "the right arm activates the small clock with rounded edges by clicking the top button",
+    "Touch the palm-sized dark blue clock's center top button with the right arm",
+    "Direct the right arm to click the button found on the white-faced alarm clock.",
+    "Point the right arm to press the button of the square plastic alarm clock.",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "Use the right arm to press the palm-sized dark blue clock button",
+    "Push the center area of the white-faced alarm clock's top",
+    "the right arm clicks the center top button on the palm-sized dark blue clock"
+  ],
+  "unseen": [
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode67.json b/click_alarmclock/demo_diverse/instructions/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..7370ded6c693f81928ecd13e8823d9d07d2b80c8
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode67.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the alarm clock with green stripe's top button using the left arm",
+    "Use the left arm to click the top of the white-faced alarm clock",
+    "Click the top center button of the small plastic alarm clock",
+    "Click the button centered on the dark blue clock's top.",
+    "Use the left arm to press the clock with white dial's top button",
+    "Use the left arm to press the rounded square-shaped alarm clock's top center button.",
+    "Use the left arm to tap the small clock with rounded edges's central button.",
+    "Press the top middle button of the square plastic alarm clock",
+    "the left arm clicks the center top button on the dark blue clock",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Push the button on the alarm clock with green stripe's top center.",
+    "Use the left arm to press the center top of the small plastic alarm clock",
+    "Click the middle button on the white-faced alarm clock's top side",
+    "Use the left arm to tap the small clock with rounded edges's top center button.",
+    "Use the left arm to tap the square plastic alarm clock's top button center",
+    "Use the left arm to click the center button on the square alarm clock",
+    "Use the left arm to click the top center button on the clock with white dial.",
+    "the left arm presses the center top button on the blue clock with green stripe",
+    "Locate and press the top button on the white-faced alarm clock",
+    "Locate and press the small clock with rounded edges's top center button",
+    "Tap the rounded square-shaped alarm clock's top button with the left arm",
+    "Ensure the left arm clicks the top center button of the square plastic alarm clock",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Guide the left arm to press the centered button on the clock with black hands.",
+    "Use the left arm to activate the rounded square-shaped alarm clock's button",
+    "Touch the dark blue clock's center top button with the left arm",
+    "Direct the left arm to click the button found on the dark blue clock.",
+    "the left arm activates the rounded square-shaped alarm clock by clicking the top button",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Press the center top button of the white-faced alarm clock",
+    "Tap the button at the dark blue clock's top center.",
+    "Click the center of the blue clock with green stripe's top",
+    "Press the top button in the small clock with rounded edges's center.",
+    "Click the square alarm clock's top center button using the left arm.",
+    "Hit the center of the square alarm clock's top button",
+    "Press the button on the square alarm clock's top side",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Push the top button on the dark blue clock",
+    "Activate the rounded square-shaped alarm clock by pressing the top button",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Press the center top button on the square alarm clock with the left arm",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Tap the center button on the square plastic alarm clock.",
+    "Click the center button on the small plastic alarm clock's top side.",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "Use the left arm to press the white-faced alarm clock button",
+    "Point the left arm to press the button of the alarm clock with green stripe.",
+    "Push the top button of the square alarm clock using the left arm",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Use the left arm to press the central button on the clock with black hands.",
+    "Press the square plastic alarm clock's top button using the left arm",
+    "Use the left arm to click the top of the alarm clock with green stripe",
+    "Click the top center button of the rounded square-shaped alarm clock",
+    "Click the button centered on the square alarm clock's top.",
+    "Use the left arm to press the small clock with rounded edges's top button",
+    "Use the left arm to press the small plastic alarm clock's top center button.",
+    "Use the left arm to tap the white-faced alarm clock's central button.",
+    "Press the top middle button of the palm-sized dark blue clock",
+    "the left arm clicks the center top button on the alarm clock with green stripe",
+    "Press the top button at the clock with white dial's center.",
+    "Push the button on the clock with white dial's top center.",
+    "Use the left arm to press the center top of the dark blue clock",
+    "Click the middle button on the clock with white dial's top side",
+    "Use the left arm to tap the blue clock with green stripe's top center button.",
+    "Use the left arm to tap the dark blue clock's top button center",
+    "Use the left arm to click the center button on the clock with black hands",
+    "Use the left arm to click the top center button on the small plastic alarm clock.",
+    "the left arm presses the center top button on the blue clock with green stripe",
+    "Locate and press the top button on the clock with white dial",
+    "Locate and press the palm-sized dark blue clock's top center button",
+    "Tap the small clock with rounded edges's top button with the left arm",
+    "Ensure the left arm clicks the top center button of the white-faced alarm clock",
+    "Push the central button on the white-faced alarm clock's top side.",
+    "Guide the left arm to press the centered button on the small plastic alarm clock.",
+    "Use the left arm to activate the dark blue clock's button",
+    "Touch the alarm clock with green stripe's center top button with the left arm",
+    "Direct the left arm to click the button found on the clock with white dial.",
+    "the left arm activates the palm-sized dark blue clock by clicking the top button",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Press the center top button of the small clock with rounded edges",
+    "Tap the button at the blue clock with green stripe's top center.",
+    "Click the center of the small plastic alarm clock's top",
+    "Press the top button in the alarm clock with green stripe's center.",
+    "Click the square plastic alarm clock's top center button using the left arm.",
+    "Hit the center of the blue clock with green stripe's top button",
+    "Press the button on the clock with white dial's top side",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Push the top button on the square plastic alarm clock",
+    "Activate the dark blue clock by pressing the top button",
+    "Touch the alarm clock with green stripe's button on the top side.",
+    "Press the center top button on the small plastic alarm clock with the left arm",
+    "Press the center button on the small clock with rounded edges's top.",
+    "Tap the center button on the dark blue clock.",
+    "Click the center button on the palm-sized dark blue clock's top side.",
+    "Push the center area of the white-faced alarm clock's top",
+    "Use the left arm to press the square alarm clock button",
+    "Point the left arm to press the button of the clock with black hands.",
+    "Push the top button of the clock with black hands using the left arm",
+    "Activate the blue clock with green stripe by clicking its top button",
+    "Use the left arm to press the central button on the white-faced alarm clock."
+  ],
+  "unseen": [
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode68.json b/click_alarmclock/demo_diverse/instructions/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4cc57890910a409954d0d2ee869c9998c62cafc
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode68.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the button at the alarm-clock with buttons on side's top center.",
+    "Point the left arm to press the button of the digital screen alarm-clock.",
+    "Use the left arm to press the center top of the alarm-clock with rounded edges",
+    "Push the center area of the black matte alarm-clock's top",
+    "Touch the lightweight plastic alarm-clock's center top button with the left arm",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Use the left arm to press the small alarm-clock's top center button.",
+    "the left arm activates the digital screen alarm-clock by clicking the top button",
+    "Use the left arm to tap the compact alarm-clock's central button.",
+    "Push the top button on the alarm-clock with digital display",
+    "Use the left arm to press the alarm-clock with rounded edges button",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "Click the button centered on the small alarm-clock.",
+    "Hit the center of the rectangular alarm-clock's top button",
+    "Tap the center button on the smooth black alarm-clock.",
+    "Use the left arm to press the small alarm-clock's top button",
+    "Use the left arm to press the central button on the lightweight plastic alarm-clock.",
+    "Locate and press the top button on the black matte alarm-clock",
+    "Locate and press the small alarm-clock's top center button",
+    "Press the center top button of the small alarm-clock",
+    "Click the top center button of the small alarm-clock",
+    "Press the black alarm-clock's top button using the left arm",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "Push the button on the palm-sized alarm-clock's top center.",
+    "Press the top button at the small alarm-clock's center.",
+    "Use the left arm to tap the black alarm-clock's top button center",
+    "Use the left arm to click the center button on the alarm-clock with rounded edges",
+    "Guide the left arm to press the centered button on the alarm-clock with rounded edges.",
+    "Click the alarm-clock with digital display's top center button using the left arm.",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Direct the left arm to click the button found on the smooth black alarm-clock.",
+    "Use the left arm to tap the digital screen alarm-clock's top center button.",
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "Activate the digital screen alarm-clock by pressing its top",
+    "the left arm presses the center top button on the rectangular alarm-clock",
+    "Click the center of the black alarm-clock's top",
+    "Press the top middle button of the alarm-clock with rounded edges",
+    "Tap the palm-sized alarm-clock's top button with the left arm",
+    "Use the left arm to click the top center button on the palm-sized alarm-clock.",
+    "Press the center top button on the rectangular alarm-clock with the left arm",
+    "Press the top button in the small alarm-clock's center.",
+    "Press the center button on the smooth black alarm-clock's top.",
+    "Ensure the left arm clicks the top center button of the smooth black alarm-clock",
+    "Click the button centered on the black alarm-clock's top.",
+    "Use the left arm to activate the alarm-clock with digital display's button",
+    "Push the top button of the rectangular alarm-clock using the left arm",
+    "the left arm clicks the center top button on the smooth black alarm-clock",
+    "Tap the button at the digital screen alarm-clock's top center.",
+    "Point the left arm to press the button of the alarm-clock with digital display.",
+    "Use the left arm to press the center top of the compact alarm-clock",
+    "Push the center area of the alarm-clock with rounded edges's top",
+    "Touch the smooth black alarm-clock's center top button with the left arm",
+    "Click the middle button on the digital screen alarm-clock's top side",
+    "Use the left arm to press the digital screen alarm-clock's top center button.",
+    "the left arm activates the small alarm-clock by clicking the top button",
+    "Use the left arm to tap the small alarm-clock's central button.",
+    "Push the top button on the alarm-clock with digital display",
+    "Use the left arm to press the small alarm-clock button",
+    "Use the left arm to click the top of the rectangular alarm-clock",
+    "Click the button centered on the smooth black alarm-clock.",
+    "Hit the center of the small alarm-clock's top button",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Use the left arm to press the black matte alarm-clock's top button",
+    "Use the left arm to press the central button on the palm-sized alarm-clock.",
+    "Locate and press the top button on the black alarm-clock",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "Press the center top button of the black alarm-clock",
+    "Click the top center button of the compact alarm-clock",
+    "Press the smooth black alarm-clock's top button using the left arm",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "Push the button on the small alarm-clock's top center.",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top button center",
+    "Use the left arm to click the center button on the digital screen alarm-clock",
+    "Guide the left arm to press the centered button on the lightweight plastic alarm-clock.",
+    "Click the digital screen alarm-clock's top center button using the left arm.",
+    "Activate the alarm-clock with digital display by clicking its top button",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Direct the left arm to click the button found on the lightweight plastic alarm-clock.",
+    "Use the left arm to tap the alarm-clock with rounded edges's top center button.",
+    "Push the central button on the smooth black alarm-clock's top side.",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "the left arm presses the center top button on the rectangular alarm-clock",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Tap the digital screen alarm-clock's top button with the left arm",
+    "Use the left arm to click the top center button on the black matte alarm-clock.",
+    "Press the center top button on the digital screen alarm-clock with the left arm",
+    "Press the top button in the compact alarm-clock's center.",
+    "Press the center button on the black alarm-clock's top.",
+    "Ensure the left arm clicks the top center button of the black matte alarm-clock",
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Use the left arm to activate the palm-sized alarm-clock's button",
+    "Push the top button of the alarm-clock with buttons on side using the left arm",
+    "the left arm clicks the center top button on the smooth black alarm-clock"
+  ],
+  "unseen": [
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with large numbers's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode69.json b/click_alarmclock/demo_diverse/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..b23bfa955f8b65459b4d14a3c9504fe4c652d147
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the center button on the alarm-clock with rounded edges's top.",
+    "Click the button centered on the compact alarm-clock.",
+    "Press the center top button on the black alarm-clock with the right arm",
+    "Ensure the right arm clicks the top center button of the black alarm-clock",
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "Point the right arm to press the button of the black alarm-clock.",
+    "Click the center of the digital screen alarm-clock's top",
+    "Locate and press the smooth black alarm-clock's top center button",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Locate and press the top button on the black alarm-clock",
+    "the right arm presses the center top button on the black alarm-clock",
+    "Use the right arm to press the compact alarm-clock's top center button.",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Use the right arm to press the alarm-clock with rounded edges's top button",
+    "Hit the center of the small alarm-clock's top button",
+    "Use the right arm to click the top center button on the alarm-clock with rounded edges.",
+    "Use the right arm to press the center top of the alarm-clock with buttons on side",
+    "Use the right arm to press the central button on the digital screen alarm-clock.",
+    "Use the right arm to click the center button on the compact alarm-clock",
+    "the right arm clicks the center top button on the black alarm-clock",
+    "Use the right arm to tap the alarm-clock with digital display's top center button.",
+    "Touch the rectangular alarm-clock's button on the top side.",
+    "Push the center area of the small alarm-clock's top",
+    "Activate the smooth black alarm-clock by pressing the top button",
+    "Push the button on the compact alarm-clock's top center.",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Press the alarm-clock with buttons on side's top button using the right arm",
+    "Use the right arm to activate the lightweight plastic alarm-clock's button",
+    "Tap the digital screen alarm-clock's top button with the right arm",
+    "Activate the palm-sized alarm-clock by clicking its top button",
+    "Tap the button at the alarm-clock with digital display's top center.",
+    "Press the top middle button of the black alarm-clock",
+    "Push the central button on the black matte alarm-clock's top side.",
+    "Use the right arm to tap the alarm-clock with rounded edges's top button center",
+    "the right arm activates the black matte alarm-clock by clicking the top button",
+    "Click the middle button on the alarm-clock with digital display's top side",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Press the top button in the digital screen alarm-clock's center.",
+    "Push the top button on the alarm-clock with digital display",
+    "Click the top center button of the black matte alarm-clock",
+    "Click the alarm-clock with rounded edges's top center button using the right arm.",
+    "Click the center button on the compact alarm-clock's top side.",
+    "Use the right arm to press the black matte alarm-clock button",
+    "Use the right arm to click the top of the compact alarm-clock",
+    "Touch the alarm-clock with buttons on side's center top button with the right arm",
+    "Press the top button at the palm-sized alarm-clock's center.",
+    "Direct the right arm to click the button found on the compact alarm-clock.",
+    "Use the right arm to tap the alarm-clock with buttons on side's central button.",
+    "Push the top button of the compact alarm-clock using the right arm",
+    "Guide the right arm to press the centered button on the rectangular alarm-clock.",
+    "Press the center button on the smooth black alarm-clock's top.",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "Press the center top button on the lightweight plastic alarm-clock with the right arm",
+    "Ensure the right arm clicks the top center button of the alarm-clock with rounded edges",
+    "Activate the digital screen alarm-clock by pressing its top",
+    "Point the right arm to press the button of the lightweight plastic alarm-clock.",
+    "Click the center of the smooth black alarm-clock's top",
+    "Locate and press the black matte alarm-clock's top center button",
+    "Click the button centered on the alarm-clock with rounded edges's top.",
+    "Locate and press the top button on the alarm-clock with rounded edges",
+    "the right arm presses the center top button on the lightweight plastic alarm-clock",
+    "Use the right arm to press the alarm-clock with buttons on side's top center button.",
+    "Tap the center button on the small alarm-clock.",
+    "Use the right arm to press the black alarm-clock's top button",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Use the right arm to click the top center button on the rectangular alarm-clock.",
+    "Use the right arm to press the center top of the rectangular alarm-clock",
+    "Use the right arm to press the central button on the palm-sized alarm-clock.",
+    "Use the right arm to click the center button on the palm-sized alarm-clock",
+    "the right arm clicks the center top button on the alarm-clock with rounded edges",
+    "Use the right arm to tap the alarm-clock with rounded edges's top center button.",
+    "Touch the black alarm-clock's button on the top side.",
+    "Push the center area of the black matte alarm-clock's top",
+    "Activate the alarm-clock with digital display by pressing the top button",
+    "Push the button on the rectangular alarm-clock's top center.",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Press the black matte alarm-clock's top button using the right arm",
+    "Use the right arm to activate the palm-sized alarm-clock's button",
+    "Tap the digital screen alarm-clock's top button with the right arm",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Push the central button on the compact alarm-clock's top side.",
+    "Use the right arm to tap the smooth black alarm-clock's top button center",
+    "the right arm activates the alarm-clock with rounded edges by clicking the top button",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Press the center top button of the smooth black alarm-clock",
+    "Press the top button in the compact alarm-clock's center.",
+    "Push the top button on the lightweight plastic alarm-clock",
+    "Click the top center button of the rectangular alarm-clock",
+    "Click the black matte alarm-clock's top center button using the right arm.",
+    "Click the center button on the alarm-clock with rounded edges's top side.",
+    "Use the right arm to press the compact alarm-clock button",
+    "Use the right arm to click the top of the alarm-clock with buttons on side",
+    "Touch the alarm-clock with rounded edges's center top button with the right arm",
+    "Press the top button at the smooth black alarm-clock's center.",
+    "Direct the right arm to click the button found on the palm-sized alarm-clock.",
+    "Use the right arm to tap the compact alarm-clock's central button.",
+    "Push the top button of the digital screen alarm-clock using the right arm",
+    "Guide the right arm to press the centered button on the black matte alarm-clock."
+  ],
+  "unseen": [
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode7.json b/click_alarmclock/demo_diverse/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eba29aad881fe5ead261aba747557e4c1c9f395
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to tap the rectangular alarm-clock's central button.",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Hit the center of the black alarm-clock's top button",
+    "Use the left arm to click the top center button on the lightweight plastic alarm-clock.",
+    "Click the alarm-clock with digital display's top center button using the left arm.",
+    "Use the left arm to click the top of the alarm-clock with rounded edges",
+    "Tap the compact alarm-clock's top button with the left arm",
+    "Push the top button of the alarm-clock with rounded edges using the left arm",
+    "Locate and press the compact alarm-clock's top center button",
+    "Press the center button on the black alarm-clock's top.",
+    "Press the top button in the palm-sized alarm-clock's center.",
+    "Point the left arm to press the button of the black matte alarm-clock.",
+    "Activate the smooth black alarm-clock by clicking its top button",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Tap the button at the alarm-clock with digital display's top center.",
+    "Push the top button on the black alarm-clock",
+    "Push the center area of the alarm-clock with rounded edges's top",
+    "Use the left arm to click the center button on the alarm-clock with buttons on side",
+    "Click the center button on the small alarm-clock's top side.",
+    "the left arm presses the center top button on the rectangular alarm-clock",
+    "Use the left arm to press the palm-sized alarm-clock's top center button.",
+    "Click the button centered on the small alarm-clock.",
+    "Touch the alarm-clock with digital display's button on the top side.",
+    "Press the center top button of the alarm-clock with buttons on side",
+    "the left arm activates the black alarm-clock by clicking the top button",
+    "Click the center of the palm-sized alarm-clock's top",
+    "Press the top button at the palm-sized alarm-clock's center.",
+    "Use the left arm to tap the small alarm-clock's top button center",
+    "Click the middle button on the small alarm-clock's top side",
+    "Press the button on the digital screen alarm-clock's top side",
+    "Direct the left arm to click the button found on the digital screen alarm-clock.",
+    "Use the left arm to activate the alarm-clock with buttons on side's button",
+    "Touch the palm-sized alarm-clock's center top button with the left arm",
+    "Locate and press the top button on the alarm-clock with digital display",
+    "Use the left arm to press the center top of the digital screen alarm-clock",
+    "Push the central button on the alarm-clock with rounded edges's top side.",
+    "Press the digital screen alarm-clock's top button using the left arm",
+    "Ensure the left arm clicks the top center button of the palm-sized alarm-clock",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges.",
+    "Activate the smooth black alarm-clock by pressing the top button",
+    "Press the center top button on the compact alarm-clock with the left arm",
+    "Click the top center button of the compact alarm-clock",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Tap the center button on the alarm-clock with digital display.",
+    "Guide the left arm to press the centered button on the digital screen alarm-clock.",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "the left arm clicks the center top button on the palm-sized alarm-clock",
+    "Use the left arm to press the black alarm-clock's top button",
+    "Use the left arm to press the alarm-clock with digital display button",
+    "Use the left arm to tap the alarm-clock with digital display's central button.",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Activate the alarm-clock with rounded edges by pressing its top",
+    "Hit the center of the rectangular alarm-clock's top button",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Click the palm-sized alarm-clock's top center button using the left arm.",
+    "Use the left arm to click the top of the lightweight plastic alarm-clock",
+    "Tap the smooth black alarm-clock's top button with the left arm",
+    "Push the top button of the black alarm-clock using the left arm",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Press the center button on the small alarm-clock's top.",
+    "Press the top button in the black matte alarm-clock's center.",
+    "Point the left arm to press the button of the digital screen alarm-clock.",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Use the left arm to tap the rectangular alarm-clock's top center button.",
+    "Tap the button at the digital screen alarm-clock's top center.",
+    "Push the top button on the black alarm-clock",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Use the left arm to click the center button on the rectangular alarm-clock",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "the left arm presses the center top button on the black alarm-clock",
+    "Use the left arm to press the compact alarm-clock's top center button.",
+    "Click the button centered on the lightweight plastic alarm-clock.",
+    "Touch the small alarm-clock's button on the top side.",
+    "Press the center top button of the digital screen alarm-clock",
+    "the left arm activates the palm-sized alarm-clock by clicking the top button",
+    "Click the center of the rectangular alarm-clock's top",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Use the left arm to tap the alarm-clock with digital display's top button center",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Direct the left arm to click the button found on the rectangular alarm-clock.",
+    "Use the left arm to activate the palm-sized alarm-clock's button",
+    "Touch the small alarm-clock's center top button with the left arm",
+    "Locate and press the top button on the small alarm-clock",
+    "Use the left arm to press the center top of the black matte alarm-clock",
+    "Push the central button on the black alarm-clock's top side.",
+    "Press the alarm-clock with buttons on side's top button using the left arm",
+    "Ensure the left arm clicks the top center button of the compact alarm-clock",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges.",
+    "Activate the smooth black alarm-clock by pressing the top button",
+    "Press the center top button on the alarm-clock with digital display with the left arm",
+    "Click the top center button of the black alarm-clock",
+    "Click the button centered on the black matte alarm-clock's top.",
+    "Tap the center button on the alarm-clock with digital display.",
+    "Guide the left arm to press the centered button on the small alarm-clock.",
+    "Push the button on the black matte alarm-clock's top center.",
+    "the left arm clicks the center top button on the palm-sized alarm-clock",
+    "Use the left arm to press the rectangular alarm-clock's top button",
+    "Use the left arm to press the alarm-clock with digital display button"
+  ],
+  "unseen": [
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with beige screen."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode70.json b/click_alarmclock/demo_diverse/instructions/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee1d850800e676725629bdc9509776fdccc7d9af
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode70.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "Use the left arm to click the top of the lightweight plastic alarm-clock",
+    "Click the center button on the lightweight plastic alarm-clock's top side.",
+    "the left arm activates the small alarm-clock by clicking the top button",
+    "the left arm presses the center top button on the black alarm-clock",
+    "Use the left arm to activate the digital screen alarm-clock's button",
+    "Press the center top button on the smooth black alarm-clock with the left arm",
+    "Use the left arm to press the center top of the smooth black alarm-clock",
+    "Use the left arm to press the black alarm-clock's top button",
+    "Activate the small alarm-clock by clicking its top button",
+    "Press the top button in the compact alarm-clock's center.",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Touch the compact alarm-clock's button on the top side.",
+    "Push the button on the compact alarm-clock's top center.",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Push the center area of the alarm-clock with buttons on side's top",
+    "Click the lightweight plastic alarm-clock's top center button using the left arm.",
+    "Push the top button on the lightweight plastic alarm-clock",
+    "Press the top button at the black alarm-clock's center.",
+    "Use the left arm to click the center button on the palm-sized alarm-clock",
+    "Tap the alarm-clock with rounded edges's top button with the left arm",
+    "Press the top middle button of the black alarm-clock",
+    "Use the left arm to click the top center button on the small alarm-clock.",
+    "Touch the black matte alarm-clock's center top button with the left arm",
+    "Push the central button on the smooth black alarm-clock's top side.",
+    "Press the center button on the black alarm-clock's top.",
+    "Direct the left arm to click the button found on the small alarm-clock.",
+    "Guide the left arm to press the centered button on the rectangular alarm-clock.",
+    "Point the left arm to press the button of the alarm-clock with rounded edges.",
+    "Press the center top button of the alarm-clock with rounded edges",
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Locate and press the top button on the black matte alarm-clock",
+    "Press the smooth black alarm-clock's top button using the left arm",
+    "Tap the center button on the compact alarm-clock.",
+    "Click the top center button of the rectangular alarm-clock",
+    "Tap the button at the alarm-clock with buttons on side's top center.",
+    "Ensure the left arm clicks the top center button of the smooth black alarm-clock",
+    "Use the left arm to tap the alarm-clock with digital display's central button.",
+    "Hit the center of the black matte alarm-clock's top button",
+    "Push the top button of the rectangular alarm-clock using the left arm",
+    "Click the center of the black matte alarm-clock's top",
+    "Use the left arm to tap the palm-sized alarm-clock's top button center",
+    "Use the left arm to tap the small alarm-clock's top center button.",
+    "Click the middle button on the black alarm-clock's top side",
+    "the left arm clicks the center top button on the alarm-clock with digital display",
+    "Use the left arm to press the smooth black alarm-clock's top center button.",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Use the left arm to press the alarm-clock with buttons on side button",
+    "Use the left arm to press the central button on the digital screen alarm-clock.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "the left arm activates the palm-sized alarm-clock by clicking the top button",
+    "the left arm presses the center top button on the black alarm-clock",
+    "Use the left arm to activate the black alarm-clock's button",
+    "Press the center top button on the alarm-clock with buttons on side with the left arm",
+    "Use the left arm to press the center top of the lightweight plastic alarm-clock",
+    "Use the left arm to press the lightweight plastic alarm-clock's top button",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "Press the top button in the compact alarm-clock's center.",
+    "Activate the alarm-clock with buttons on side by pressing the top button",
+    "Press the button on the black matte alarm-clock's top side",
+    "Touch the digital screen alarm-clock's button on the top side.",
+    "Push the button on the smooth black alarm-clock's top center.",
+    "Locate and press the alarm-clock with rounded edges's top center button",
+    "Push the center area of the lightweight plastic alarm-clock's top",
+    "Click the alarm-clock with rounded edges's top center button using the left arm.",
+    "Push the top button on the alarm-clock with digital display",
+    "Press the top button at the lightweight plastic alarm-clock's center.",
+    "Use the left arm to click the center button on the compact alarm-clock",
+    "Tap the digital screen alarm-clock's top button with the left arm",
+    "Press the top middle button of the alarm-clock with rounded edges",
+    "Use the left arm to click the top center button on the rectangular alarm-clock.",
+    "Touch the digital screen alarm-clock's center top button with the left arm",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Press the center button on the black alarm-clock's top.",
+    "Direct the left arm to click the button found on the compact alarm-clock.",
+    "Guide the left arm to press the centered button on the alarm-clock with digital display.",
+    "Point the left arm to press the button of the alarm-clock with rounded edges.",
+    "Press the center top button of the palm-sized alarm-clock",
+    "Click the button centered on the alarm-clock with buttons on side's top.",
+    "Locate and press the top button on the palm-sized alarm-clock",
+    "Press the alarm-clock with rounded edges's top button using the left arm",
+    "Tap the center button on the small alarm-clock.",
+    "Click the top center button of the small alarm-clock",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Ensure the left arm clicks the top center button of the rectangular alarm-clock",
+    "Use the left arm to tap the lightweight plastic alarm-clock's central button.",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Push the top button of the smooth black alarm-clock using the left arm",
+    "Click the center of the smooth black alarm-clock's top",
+    "Use the left arm to tap the rectangular alarm-clock's top button center",
+    "Use the left arm to tap the alarm-clock with buttons on side's top center button.",
+    "Click the middle button on the rectangular alarm-clock's top side",
+    "the left arm clicks the center top button on the alarm-clock with digital display",
+    "Use the left arm to press the digital screen alarm-clock's top center button.",
+    "Click the button centered on the small alarm-clock.",
+    "Use the left arm to press the black matte alarm-clock button",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges."
+  ],
+  "unseen": [
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode71.json b/click_alarmclock/demo_diverse/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..a473c8cb8602d958af8c4d1f4820b798a8d1a037
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the white-faced alarm clock's top button using the right arm",
+    "Click the button centered on the alarm clock with green stripe's top.",
+    "Point the right arm to press the button of the rounded square-shaped alarm clock.",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Use the right arm to tap the small clock with rounded edges's top center button.",
+    "Press the center top button on the small clock with rounded edges with the right arm",
+    "Press the top button in the rounded square-shaped alarm clock's center.",
+    "Direct the right arm to click the button found on the white-faced alarm clock.",
+    "Activate the square plastic alarm clock by pressing its top",
+    "Activate the clock with black hands by pressing the top button",
+    "the right arm presses the center top button on the rounded square-shaped alarm clock",
+    "Click the top center button of the square alarm clock",
+    "Touch the dark blue clock's center top button with the right arm",
+    "Press the button on the small plastic alarm clock's top side",
+    "Use the right arm to tap the blue clock with green stripe's central button.",
+    "Push the center area of the square plastic alarm clock's top",
+    "Click the center of the small plastic alarm clock's top",
+    "Tap the white-faced alarm clock's top button with the right arm",
+    "Use the right arm to click the center button on the white-faced alarm clock",
+    "Click the middle button on the clock with white dial's top side",
+    "Push the central button on the dark blue clock's top side.",
+    "Use the right arm to click the top of the small plastic alarm clock",
+    "Tap the center button on the palm-sized dark blue clock.",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Click the button centered on the white-faced alarm clock.",
+    "Use the right arm to press the square alarm clock button",
+    "Click the center button on the blue clock with green stripe's top side.",
+    "Use the right arm to press the dark blue clock's top button",
+    "Guide the right arm to press the centered button on the clock with white dial.",
+    "Push the top button on the dark blue clock",
+    "Push the button on the white-faced alarm clock's top center.",
+    "Click the square plastic alarm clock's top center button using the right arm.",
+    "Touch the clock with black hands's button on the top side.",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "Locate and press the clock with white dial's top center button",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Hit the center of the small clock with rounded edges's top button",
+    "Use the right arm to click the top center button on the square plastic alarm clock.",
+    "Push the top button of the small plastic alarm clock using the right arm",
+    "Locate and press the top button on the square alarm clock",
+    "Use the right arm to press the central button on the dark blue clock.",
+    "Use the right arm to press the rounded square-shaped alarm clock's top center button.",
+    "Ensure the right arm clicks the top center button of the square alarm clock",
+    "Use the right arm to tap the small clock with rounded edges's top button center",
+    "Press the center top button of the white-faced alarm clock",
+    "Use the right arm to activate the rounded square-shaped alarm clock's button",
+    "Press the top middle button of the clock with black hands",
+    "the right arm activates the blue clock with green stripe by clicking the top button",
+    "Activate the blue clock with green stripe by clicking its top button",
+    "Use the right arm to press the center top of the blue clock with green stripe",
+    "Press the palm-sized dark blue clock's top button using the right arm",
+    "Click the button centered on the dark blue clock's top.",
+    "Point the right arm to press the button of the palm-sized dark blue clock.",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Use the right arm to tap the alarm clock with green stripe's top center button.",
+    "Press the center top button on the rounded square-shaped alarm clock with the right arm",
+    "Press the top button in the small clock with rounded edges's center.",
+    "Direct the right arm to click the button found on the dark blue clock.",
+    "Activate the blue clock with green stripe by pressing its top",
+    "Activate the square alarm clock by pressing the top button",
+    "the right arm presses the center top button on the palm-sized dark blue clock",
+    "Click the top center button of the dark blue clock",
+    "Touch the palm-sized dark blue clock's center top button with the right arm",
+    "Press the button on the clock with black hands's top side",
+    "Use the right arm to tap the clock with white dial's central button.",
+    "Push the center area of the small clock with rounded edges's top",
+    "Click the center of the small clock with rounded edges's top",
+    "Tap the white-faced alarm clock's top button with the right arm",
+    "Use the right arm to click the center button on the palm-sized dark blue clock",
+    "Click the middle button on the blue clock with green stripe's top side",
+    "Push the central button on the clock with black hands's top side.",
+    "Use the right arm to click the top of the dark blue clock",
+    "Tap the center button on the rounded square-shaped alarm clock.",
+    "Tap the button at the clock with white dial's top center.",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Use the right arm to press the white-faced alarm clock button",
+    "Click the center button on the blue clock with green stripe's top side.",
+    "Use the right arm to press the white-faced alarm clock's top button",
+    "Guide the right arm to press the centered button on the clock with white dial.",
+    "Push the top button on the small clock with rounded edges",
+    "Push the button on the clock with white dial's top center.",
+    "Click the clock with white dial's top center button using the right arm.",
+    "Touch the palm-sized dark blue clock's button on the top side.",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Locate and press the blue clock with green stripe's top center button",
+    "the right arm clicks the center top button on the palm-sized dark blue clock",
+    "Hit the center of the square alarm clock's top button",
+    "Use the right arm to click the top center button on the square alarm clock.",
+    "Push the top button of the blue clock with green stripe using the right arm",
+    "Locate and press the top button on the white-faced alarm clock",
+    "Use the right arm to press the central button on the square alarm clock.",
+    "Use the right arm to press the dark blue clock's top center button.",
+    "Ensure the right arm clicks the top center button of the square alarm clock",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "Press the center top button of the small clock with rounded edges",
+    "Use the right arm to activate the clock with black hands's button",
+    "Press the top middle button of the dark blue clock",
+    "the right arm activates the white-faced alarm clock by clicking the top button",
+    "Activate the square alarm clock by clicking its top button",
+    "Use the right arm to press the center top of the blue clock with green stripe"
+  ],
+  "unseen": [
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode72.json b/click_alarmclock/demo_diverse/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d88e74305255d078bb18edc00c9adfd5d7afb2
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode72.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the top button of the alarm-clock with digital display using the left arm",
+    "Locate and press the top button on the lightweight plastic alarm-clock",
+    "Use the left arm to press the center top of the alarm-clock with digital display",
+    "Use the left arm to tap the lightweight plastic alarm-clock's central button.",
+    "Click the center button on the compact alarm-clock's top side.",
+    "Touch the alarm-clock with digital display's center top button with the left arm",
+    "Use the left arm to click the top center button on the small alarm-clock.",
+    "Tap the center button on the alarm-clock with buttons on side.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Guide the left arm to press the centered button on the smooth black alarm-clock.",
+    "Click the rectangular alarm-clock's top center button using the left arm.",
+    "Use the left arm to click the center button on the lightweight plastic alarm-clock",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Use the left arm to press the small alarm-clock's top button",
+    "the left arm activates the alarm-clock with digital display by clicking the top button",
+    "Press the top button in the small alarm-clock's center.",
+    "Press the center button on the compact alarm-clock's top.",
+    "Use the left arm to tap the black alarm-clock's top button center",
+    "Direct the left arm to click the button found on the rectangular alarm-clock.",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges.",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Ensure the left arm clicks the top center button of the compact alarm-clock",
+    "Press the center top button on the rectangular alarm-clock with the left arm",
+    "Click the button centered on the alarm-clock with rounded edges.",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Use the left arm to activate the digital screen alarm-clock's button",
+    "Locate and press the alarm-clock with buttons on side's top center button",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Click the button centered on the black alarm-clock's top.",
+    "Activate the alarm-clock with rounded edges by pressing its top",
+    "Use the left arm to tap the rectangular alarm-clock's top center button.",
+    "Tap the black matte alarm-clock's top button with the left arm",
+    "Activate the smooth black alarm-clock by clicking its top button",
+    "Hit the center of the rectangular alarm-clock's top button",
+    "Push the button on the compact alarm-clock's top center.",
+    "Push the top button on the digital screen alarm-clock",
+    "Point the left arm to press the button of the smooth black alarm-clock.",
+    "Press the top button at the black matte alarm-clock's center.",
+    "the left arm presses the center top button on the rectangular alarm-clock",
+    "Tap the button at the alarm-clock with rounded edges's top center.",
+    "Press the rectangular alarm-clock's top button using the left arm",
+    "Use the left arm to press the black alarm-clock's top center button.",
+    "Press the top middle button of the digital screen alarm-clock",
+    "Touch the alarm-clock with rounded edges's button on the top side.",
+    "Click the center of the alarm-clock with digital display's top",
+    "the left arm clicks the center top button on the compact alarm-clock",
+    "Click the top center button of the black alarm-clock",
+    "Use the left arm to click the top of the black matte alarm-clock",
+    "Use the left arm to press the lightweight plastic alarm-clock button",
+    "Press the center top button of the black matte alarm-clock",
+    "Push the top button of the palm-sized alarm-clock using the left arm",
+    "Locate and press the top button on the lightweight plastic alarm-clock",
+    "Use the left arm to press the center top of the digital screen alarm-clock",
+    "Use the left arm to tap the digital screen alarm-clock's central button.",
+    "Click the center button on the lightweight plastic alarm-clock's top side.",
+    "Touch the compact alarm-clock's center top button with the left arm",
+    "Use the left arm to click the top center button on the black matte alarm-clock.",
+    "Tap the center button on the lightweight plastic alarm-clock.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Guide the left arm to press the centered button on the compact alarm-clock.",
+    "Click the digital screen alarm-clock's top center button using the left arm.",
+    "Use the left arm to click the center button on the small alarm-clock",
+    "Press the button on the black matte alarm-clock's top side",
+    "Use the left arm to press the alarm-clock with buttons on side's top button",
+    "the left arm activates the small alarm-clock by clicking the top button",
+    "Press the top button in the compact alarm-clock's center.",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Use the left arm to tap the alarm-clock with buttons on side's top button center",
+    "Direct the left arm to click the button found on the digital screen alarm-clock.",
+    "Use the left arm to press the central button on the compact alarm-clock.",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Ensure the left arm clicks the top center button of the alarm-clock with rounded edges",
+    "Press the center top button on the alarm-clock with buttons on side with the left arm",
+    "Click the button centered on the smooth black alarm-clock.",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Use the left arm to activate the compact alarm-clock's button",
+    "Locate and press the small alarm-clock's top center button",
+    "Push the central button on the small alarm-clock's top side.",
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Use the left arm to tap the palm-sized alarm-clock's top center button.",
+    "Tap the compact alarm-clock's top button with the left arm",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Hit the center of the digital screen alarm-clock's top button",
+    "Push the button on the compact alarm-clock's top center.",
+    "Push the top button on the palm-sized alarm-clock",
+    "Point the left arm to press the button of the alarm-clock with buttons on side.",
+    "Press the top button at the alarm-clock with buttons on side's center.",
+    "the left arm presses the center top button on the alarm-clock with digital display",
+    "Tap the button at the black matte alarm-clock's top center.",
+    "Press the rectangular alarm-clock's top button using the left arm",
+    "Use the left arm to press the small alarm-clock's top center button.",
+    "Press the top middle button of the rectangular alarm-clock",
+    "Touch the black alarm-clock's button on the top side.",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "the left arm clicks the center top button on the alarm-clock with digital display",
+    "Click the top center button of the smooth black alarm-clock",
+    "Use the left arm to click the top of the lightweight plastic alarm-clock",
+    "Use the left arm to press the smooth black alarm-clock button",
+    "Press the center top button of the lightweight plastic alarm-clock"
+  ],
+  "unseen": [
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode73.json b/click_alarmclock/demo_diverse/instructions/episode73.json
new file mode 100644
index 0000000000000000000000000000000000000000..58be4cbab6b1f3bb4ee389c5e04943d725f95987
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode73.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Ensure the right arm clicks the top center button of the alarm clock with green stripe",
+    "Activate the square alarm clock by pressing its top",
+    "Press the top button at the blue clock with green stripe's center.",
+    "Push the center area of the clock with black hands's top",
+    "Push the top button on the square plastic alarm clock",
+    "Use the right arm to activate the alarm clock with green stripe's button",
+    "Click the button centered on the square plastic alarm clock's top.",
+    "Use the right arm to press the small clock with rounded edges's top center button.",
+    "Use the right arm to press the small plastic alarm clock's top button",
+    "Tap the button at the square plastic alarm clock's top center.",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Click the button centered on the palm-sized dark blue clock.",
+    "Activate the small clock with rounded edges by pressing the top button",
+    "Push the central button on the alarm clock with green stripe's top side.",
+    "Use the right arm to tap the blue clock with green stripe's central button.",
+    "Press the clock with white dial's top button using the right arm",
+    "Click the white-faced alarm clock's top center button using the right arm.",
+    "Press the button on the square plastic alarm clock's top side",
+    "Use the right arm to tap the palm-sized dark blue clock's top center button.",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Press the center top button of the dark blue clock",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Use the right arm to click the top center button on the alarm clock with green stripe.",
+    "Tap the center button on the small plastic alarm clock.",
+    "Locate and press the top button on the white-faced alarm clock",
+    "the right arm activates the clock with white dial by clicking the top button",
+    "Hit the center of the dark blue clock's top button",
+    "Press the center top button on the clock with black hands with the right arm",
+    "Use the right arm to click the center button on the alarm clock with green stripe",
+    "Use the right arm to press the palm-sized dark blue clock button",
+    "Click the top center button of the clock with black hands",
+    "Activate the square alarm clock by clicking its top button",
+    "Push the button on the square plastic alarm clock's top center.",
+    "Direct the right arm to click the button found on the rounded square-shaped alarm clock.",
+    "Press the top button in the clock with white dial's center.",
+    "Guide the right arm to press the centered button on the square alarm clock.",
+    "Use the right arm to press the center top of the clock with black hands",
+    "Tap the dark blue clock's top button with the right arm",
+    "Point the right arm to press the button of the clock with white dial.",
+    "Press the center button on the small clock with rounded edges's top.",
+    "Use the right arm to click the top of the blue clock with green stripe",
+    "Touch the rounded square-shaped alarm clock's center top button with the right arm",
+    "Click the center of the small plastic alarm clock's top",
+    "the right arm presses the center top button on the small plastic alarm clock",
+    "Push the top button of the dark blue clock using the right arm",
+    "Use the right arm to press the central button on the small plastic alarm clock.",
+    "Use the right arm to tap the small clock with rounded edges's top button center",
+    "the right arm clicks the center top button on the square plastic alarm clock",
+    "Click the center button on the dark blue clock's top side.",
+    "Click the middle button on the clock with white dial's top side",
+    "Ensure the right arm clicks the top center button of the square alarm clock",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Press the top button at the clock with black hands's center.",
+    "Push the center area of the white-faced alarm clock's top",
+    "Push the top button on the palm-sized dark blue clock",
+    "Use the right arm to activate the blue clock with green stripe's button",
+    "Click the button centered on the clock with black hands's top.",
+    "Use the right arm to press the small plastic alarm clock's top center button.",
+    "Use the right arm to press the alarm clock with green stripe's top button",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Touch the white-faced alarm clock's button on the top side.",
+    "Click the button centered on the blue clock with green stripe.",
+    "Activate the white-faced alarm clock by pressing the top button",
+    "Push the central button on the white-faced alarm clock's top side.",
+    "Use the right arm to tap the small clock with rounded edges's central button.",
+    "Press the alarm clock with green stripe's top button using the right arm",
+    "Click the dark blue clock's top center button using the right arm.",
+    "Press the button on the square plastic alarm clock's top side",
+    "Use the right arm to tap the palm-sized dark blue clock's top center button.",
+    "Press the top middle button of the square plastic alarm clock",
+    "Press the center top button of the small clock with rounded edges",
+    "Locate and press the clock with black hands's top center button",
+    "Use the right arm to click the top center button on the small clock with rounded edges.",
+    "Tap the center button on the square alarm clock.",
+    "Locate and press the top button on the clock with white dial",
+    "the right arm activates the blue clock with green stripe by clicking the top button",
+    "Hit the center of the dark blue clock's top button",
+    "Press the center top button on the white-faced alarm clock with the right arm",
+    "Use the right arm to click the center button on the dark blue clock",
+    "Use the right arm to press the small plastic alarm clock button",
+    "Click the top center button of the clock with black hands",
+    "Activate the white-faced alarm clock by clicking its top button",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Direct the right arm to click the button found on the white-faced alarm clock.",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Guide the right arm to press the centered button on the blue clock with green stripe.",
+    "Use the right arm to press the center top of the rounded square-shaped alarm clock",
+    "Tap the square alarm clock's top button with the right arm",
+    "Point the right arm to press the button of the small plastic alarm clock.",
+    "Press the center button on the palm-sized dark blue clock's top.",
+    "Use the right arm to click the top of the clock with black hands",
+    "Touch the palm-sized dark blue clock's center top button with the right arm",
+    "Click the center of the small clock with rounded edges's top",
+    "the right arm presses the center top button on the small clock with rounded edges",
+    "Push the top button of the square alarm clock using the right arm",
+    "Use the right arm to press the central button on the clock with white dial.",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "the right arm clicks the center top button on the small plastic alarm clock",
+    "Click the center button on the square alarm clock's top side.",
+    "Click the middle button on the square plastic alarm clock's top side"
+  ],
+  "unseen": [
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode74.json b/click_alarmclock/demo_diverse/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..233563343da95706600a7bd7821c333610b4f661
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to click the top center button on the small plastic alarm clock.",
+    "Touch the rounded square-shaped alarm clock's center top button with the right arm",
+    "Push the button on the clock with white dial's top center.",
+    "Press the button on the alarm clock with green stripe's top side",
+    "Press the top button in the rounded square-shaped alarm clock's center.",
+    "Use the right arm to tap the square alarm clock's top button center",
+    "the right arm activates the dark blue clock by clicking the top button",
+    "Use the right arm to press the palm-sized dark blue clock button",
+    "Use the right arm to click the top of the white-faced alarm clock",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Tap the center button on the palm-sized dark blue clock.",
+    "Locate and press the square plastic alarm clock's top center button",
+    "the right arm presses the center top button on the clock with white dial",
+    "Tap the button at the dark blue clock's top center.",
+    "Push the central button on the rounded square-shaped alarm clock's top side.",
+    "Use the right arm to tap the small clock with rounded edges's central button.",
+    "Click the top center button of the clock with white dial",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Guide the right arm to press the centered button on the rounded square-shaped alarm clock.",
+    "Click the button centered on the small plastic alarm clock.",
+    "Use the right arm to press the rounded square-shaped alarm clock's top center button.",
+    "Direct the right arm to click the button found on the small clock with rounded edges.",
+    "Use the right arm to tap the clock with white dial's top center button.",
+    "Push the center area of the clock with black hands's top",
+    "Click the center of the clock with white dial's top",
+    "Ensure the right arm clicks the top center button of the rounded square-shaped alarm clock",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Push the top button of the blue clock with green stripe using the right arm",
+    "Click the white-faced alarm clock's top center button using the right arm.",
+    "Tap the blue clock with green stripe's top button with the right arm",
+    "Point the right arm to press the button of the dark blue clock.",
+    "Click the middle button on the square alarm clock's top side",
+    "Use the right arm to activate the square alarm clock's button",
+    "Push the top button on the small plastic alarm clock",
+    "Activate the dark blue clock by pressing the top button",
+    "Use the right arm to click the center button on the small clock with rounded edges",
+    "Press the dark blue clock's top button using the right arm",
+    "Click the button centered on the rounded square-shaped alarm clock's top.",
+    "Press the center top button of the small clock with rounded edges",
+    "Use the right arm to press the blue clock with green stripe's top button",
+    "Use the right arm to press the center top of the small plastic alarm clock",
+    "Locate and press the top button on the alarm clock with green stripe",
+    "Touch the square plastic alarm clock's button on the top side.",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "Hit the center of the square plastic alarm clock's top button",
+    "Press the center top button on the small clock with rounded edges with the right arm",
+    "Click the center button on the small plastic alarm clock's top side.",
+    "Use the right arm to press the central button on the dark blue clock.",
+    "the right arm clicks the center top button on the small plastic alarm clock",
+    "Use the right arm to click the top center button on the small clock with rounded edges.",
+    "Touch the white-faced alarm clock's center top button with the right arm",
+    "Push the button on the rounded square-shaped alarm clock's top center.",
+    "Press the button on the rounded square-shaped alarm clock's top side",
+    "Press the top button in the small clock with rounded edges's center.",
+    "Use the right arm to tap the white-faced alarm clock's top button center",
+    "the right arm activates the clock with black hands by clicking the top button",
+    "Use the right arm to press the dark blue clock button",
+    "Use the right arm to click the top of the palm-sized dark blue clock",
+    "Press the center button on the clock with white dial's top.",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "Tap the center button on the alarm clock with green stripe.",
+    "Locate and press the small clock with rounded edges's top center button",
+    "the right arm presses the center top button on the clock with white dial",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Use the right arm to tap the clock with black hands's central button.",
+    "Click the top center button of the blue clock with green stripe",
+    "Press the top middle button of the clock with white dial",
+    "Guide the right arm to press the centered button on the clock with black hands.",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Use the right arm to press the square plastic alarm clock's top center button.",
+    "Direct the right arm to click the button found on the dark blue clock.",
+    "Use the right arm to tap the small clock with rounded edges's top center button.",
+    "Push the center area of the small plastic alarm clock's top",
+    "Click the center of the square alarm clock's top",
+    "Ensure the right arm clicks the top center button of the small clock with rounded edges",
+    "Activate the dark blue clock by pressing its top",
+    "Push the top button of the dark blue clock using the right arm",
+    "Click the small clock with rounded edges's top center button using the right arm.",
+    "Tap the dark blue clock's top button with the right arm",
+    "Point the right arm to press the button of the clock with white dial.",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "Use the right arm to activate the white-faced alarm clock's button",
+    "Push the top button on the white-faced alarm clock",
+    "Activate the white-faced alarm clock by pressing the top button",
+    "Use the right arm to click the center button on the square plastic alarm clock",
+    "Press the clock with black hands's top button using the right arm",
+    "Click the button centered on the clock with black hands's top.",
+    "Press the center top button of the small plastic alarm clock",
+    "Use the right arm to press the square alarm clock's top button",
+    "Use the right arm to press the center top of the square plastic alarm clock",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Touch the blue clock with green stripe's button on the top side.",
+    "Activate the dark blue clock by clicking its top button",
+    "Hit the center of the alarm clock with green stripe's top button",
+    "Press the center top button on the white-faced alarm clock with the right arm",
+    "Click the center button on the dark blue clock's top side.",
+    "Use the right arm to press the central button on the palm-sized dark blue clock.",
+    "the right arm clicks the center top button on the white-faced alarm clock"
+  ],
+  "unseen": [
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode76.json b/click_alarmclock/demo_diverse/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..520a3a6314e0e7ef382e292ad04df0957d9cc3ba
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to press the alarm clock with green stripe's top center button.",
+    "Press the top button at the white-faced alarm clock's center.",
+    "Locate and press the palm-sized dark blue clock's top center button",
+    "Click the button centered on the palm-sized dark blue clock.",
+    "Locate and press the top button on the small clock with rounded edges",
+    "Use the left arm to click the top of the square alarm clock",
+    "Click the middle button on the square alarm clock's top side",
+    "Tap the palm-sized dark blue clock's top button with the left arm",
+    "Press the alarm clock with green stripe's top button using the left arm",
+    "Touch the rounded square-shaped alarm clock's center top button with the left arm",
+    "Use the left arm to tap the dark blue clock's central button.",
+    "the left arm presses the center top button on the clock with white dial",
+    "Press the center top button of the rounded square-shaped alarm clock",
+    "Use the left arm to press the square plastic alarm clock button",
+    "Tap the center button on the small plastic alarm clock.",
+    "Use the left arm to press the central button on the clock with white dial.",
+    "Press the center button on the square alarm clock's top.",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Activate the rounded square-shaped alarm clock by pressing the top button",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "the left arm clicks the center top button on the dark blue clock",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Direct the left arm to click the button found on the clock with white dial.",
+    "Ensure the left arm clicks the top center button of the clock with black hands",
+    "Use the left arm to tap the palm-sized dark blue clock's top button center",
+    "Use the left arm to click the top center button on the blue clock with green stripe.",
+    "Touch the alarm clock with green stripe's button on the top side.",
+    "Press the center top button on the small clock with rounded edges with the left arm",
+    "Push the center area of the square plastic alarm clock's top",
+    "Click the top center button of the small clock with rounded edges",
+    "Click the button centered on the rounded square-shaped alarm clock's top.",
+    "Click the center button on the clock with black hands's top side.",
+    "the left arm activates the palm-sized dark blue clock by clicking the top button",
+    "Use the left arm to press the center top of the palm-sized dark blue clock",
+    "Click the alarm clock with green stripe's top center button using the left arm.",
+    "Point the left arm to press the button of the small plastic alarm clock.",
+    "Push the top button on the dark blue clock",
+    "Press the top button in the alarm clock with green stripe's center.",
+    "Use the left arm to click the center button on the small clock with rounded edges",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Press the button on the small clock with rounded edges's top side",
+    "Use the left arm to tap the square plastic alarm clock's top center button.",
+    "Activate the dark blue clock by clicking its top button",
+    "Click the center of the clock with white dial's top",
+    "Hit the center of the clock with white dial's top button",
+    "Push the top button of the clock with white dial using the left arm",
+    "Use the left arm to activate the blue clock with green stripe's button",
+    "Press the top middle button of the clock with black hands",
+    "Guide the left arm to press the centered button on the alarm clock with green stripe.",
+    "Use the left arm to press the small clock with rounded edges's top button",
+    "Use the left arm to press the palm-sized dark blue clock's top center button.",
+    "Press the top button at the square plastic alarm clock's center.",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Click the button centered on the square plastic alarm clock.",
+    "Locate and press the top button on the blue clock with green stripe",
+    "Use the left arm to click the top of the clock with white dial",
+    "Click the middle button on the small clock with rounded edges's top side",
+    "Tap the white-faced alarm clock's top button with the left arm",
+    "Press the rounded square-shaped alarm clock's top button using the left arm",
+    "Touch the white-faced alarm clock's center top button with the left arm",
+    "Use the left arm to tap the white-faced alarm clock's central button.",
+    "the left arm presses the center top button on the clock with black hands",
+    "Press the center top button of the alarm clock with green stripe",
+    "Use the left arm to press the alarm clock with green stripe button",
+    "Tap the center button on the alarm clock with green stripe.",
+    "Use the left arm to press the central button on the dark blue clock.",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Push the central button on the small plastic alarm clock's top side.",
+    "Activate the dark blue clock by pressing the top button",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "the left arm clicks the center top button on the square plastic alarm clock",
+    "Activate the clock with black hands by pressing its top",
+    "Direct the left arm to click the button found on the alarm clock with green stripe.",
+    "Ensure the left arm clicks the top center button of the dark blue clock",
+    "Use the left arm to tap the dark blue clock's top button center",
+    "Use the left arm to click the top center button on the small clock with rounded edges.",
+    "Touch the dark blue clock's button on the top side.",
+    "Press the center top button on the small clock with rounded edges with the left arm",
+    "Push the center area of the white-faced alarm clock's top",
+    "Click the top center button of the blue clock with green stripe",
+    "Click the button centered on the clock with black hands's top.",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "the left arm activates the dark blue clock by clicking the top button",
+    "Use the left arm to press the center top of the clock with white dial",
+    "Click the blue clock with green stripe's top center button using the left arm.",
+    "Point the left arm to press the button of the palm-sized dark blue clock.",
+    "Push the top button on the small plastic alarm clock",
+    "Press the top button in the rounded square-shaped alarm clock's center.",
+    "Use the left arm to click the center button on the white-faced alarm clock",
+    "Tap the button at the square plastic alarm clock's top center.",
+    "Press the button on the white-faced alarm clock's top side",
+    "Use the left arm to tap the clock with black hands's top center button.",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "Click the center of the small clock with rounded edges's top",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Push the top button of the alarm clock with green stripe using the left arm",
+    "Use the left arm to activate the blue clock with green stripe's button",
+    "Press the top middle button of the square plastic alarm clock",
+    "Guide the left arm to press the centered button on the square alarm clock.",
+    "Use the left arm to press the white-faced alarm clock's top button"
+  ],
+  "unseen": [
+    "Tap the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode77.json b/click_alarmclock/demo_diverse/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..d77ffc5c522063ab1650ef95455823334275a9be
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the blue clock with green stripe's top center button",
+    "Touch the alarm clock with green stripe's center top button with the left arm",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Press the center top button on the clock with black hands with the left arm",
+    "Locate and press the top button on the dark blue clock",
+    "Use the left arm to activate the blue clock with green stripe's button",
+    "Click the middle button on the palm-sized dark blue clock's top side",
+    "Ensure the left arm clicks the top center button of the square alarm clock",
+    "Use the left arm to click the top of the alarm clock with green stripe",
+    "Use the left arm to click the top center button on the dark blue clock.",
+    "Push the top button on the square alarm clock",
+    "Press the top button in the rounded square-shaped alarm clock's center.",
+    "Press the top middle button of the dark blue clock",
+    "Tap the center button on the clock with black hands.",
+    "Activate the clock with white dial by clicking its top button",
+    "Click the center button on the dark blue clock's top side.",
+    "the left arm clicks the center top button on the alarm clock with green stripe",
+    "Tap the button at the dark blue clock's top center.",
+    "Activate the square alarm clock by pressing its top",
+    "Direct the left arm to click the button found on the palm-sized dark blue clock.",
+    "Guide the left arm to press the centered button on the square alarm clock.",
+    "Press the button on the dark blue clock's top side",
+    "Use the left arm to press the small plastic alarm clock button",
+    "Use the left arm to tap the square alarm clock's top center button.",
+    "Tap the small clock with rounded edges's top button with the left arm",
+    "Touch the white-faced alarm clock's button on the top side.",
+    "Point the left arm to press the button of the clock with white dial.",
+    "Use the left arm to press the square plastic alarm clock's top center button.",
+    "Click the top center button of the square alarm clock",
+    "Click the square alarm clock's top center button using the left arm.",
+    "Use the left arm to press the center top of the square plastic alarm clock",
+    "Use the left arm to tap the small plastic alarm clock's top button center",
+    "Press the center button on the blue clock with green stripe's top.",
+    "Use the left arm to click the center button on the dark blue clock",
+    "Press the alarm clock with green stripe's top button using the left arm",
+    "Click the button centered on the small clock with rounded edges's top.",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "the left arm presses the center top button on the square plastic alarm clock",
+    "Push the center area of the small plastic alarm clock's top",
+    "Push the button on the square plastic alarm clock's top center.",
+    "Use the left arm to press the central button on the palm-sized dark blue clock.",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Press the center top button of the square alarm clock",
+    "the left arm activates the white-faced alarm clock by clicking the top button",
+    "Use the left arm to tap the rounded square-shaped alarm clock's central button.",
+    "Use the left arm to press the small plastic alarm clock's top button",
+    "Click the center of the clock with white dial's top",
+    "Push the top button of the clock with white dial using the left arm",
+    "Click the button centered on the blue clock with green stripe.",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Locate and press the white-faced alarm clock's top center button",
+    "Touch the small clock with rounded edges's center top button with the left arm",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Press the center top button on the square plastic alarm clock with the left arm",
+    "Locate and press the top button on the alarm clock with green stripe",
+    "Use the left arm to activate the clock with black hands's button",
+    "Click the middle button on the rounded square-shaped alarm clock's top side",
+    "Ensure the left arm clicks the top center button of the small clock with rounded edges",
+    "Use the left arm to click the top of the rounded square-shaped alarm clock",
+    "Use the left arm to click the top center button on the small clock with rounded edges.",
+    "Push the top button on the clock with white dial",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Tap the center button on the alarm clock with green stripe.",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Click the center button on the small plastic alarm clock's top side.",
+    "the left arm clicks the center top button on the clock with white dial",
+    "Tap the button at the dark blue clock's top center.",
+    "Activate the square alarm clock by pressing its top",
+    "Direct the left arm to click the button found on the blue clock with green stripe.",
+    "Guide the left arm to press the centered button on the square alarm clock.",
+    "Press the button on the square plastic alarm clock's top side",
+    "Use the left arm to press the small clock with rounded edges button",
+    "Use the left arm to tap the small plastic alarm clock's top center button.",
+    "Tap the dark blue clock's top button with the left arm",
+    "Touch the clock with black hands's button on the top side.",
+    "Point the left arm to press the button of the clock with white dial.",
+    "Use the left arm to press the rounded square-shaped alarm clock's top center button.",
+    "Click the top center button of the rounded square-shaped alarm clock",
+    "Click the dark blue clock's top center button using the left arm.",
+    "Use the left arm to press the center top of the square alarm clock",
+    "Use the left arm to tap the white-faced alarm clock's top button center",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Use the left arm to click the center button on the dark blue clock",
+    "Press the small plastic alarm clock's top button using the left arm",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Activate the clock with white dial by pressing the top button",
+    "the left arm presses the center top button on the square alarm clock",
+    "Push the center area of the square plastic alarm clock's top",
+    "Push the button on the alarm clock with green stripe's top center.",
+    "Use the left arm to press the central button on the square plastic alarm clock.",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "Press the center top button of the rounded square-shaped alarm clock",
+    "the left arm activates the small clock with rounded edges by clicking the top button",
+    "Use the left arm to tap the blue clock with green stripe's central button.",
+    "Use the left arm to press the small plastic alarm clock's top button",
+    "Click the center of the white-faced alarm clock's top",
+    "Push the top button of the small plastic alarm clock using the left arm",
+    "Click the button centered on the clock with black hands.",
+    "Push the central button on the dark blue clock's top side."
+  ],
+  "unseen": [
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode79.json b/click_alarmclock/demo_diverse/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c21f50b41a9a9573c4bb03ce13f40e22f697d07
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the central button on the rounded square-shaped alarm clock's top side.",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Use the right arm to press the center top of the clock with black hands",
+    "Ensure the right arm clicks the top center button of the blue clock with green stripe",
+    "Push the button on the clock with white dial's top center.",
+    "Use the right arm to click the top of the small plastic alarm clock",
+    "Direct the right arm to click the button found on the dark blue clock.",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Use the right arm to press the square alarm clock's top center button.",
+    "Click the center button on the palm-sized dark blue clock's top side.",
+    "Point the right arm to press the button of the small plastic alarm clock.",
+    "Push the top button on the palm-sized dark blue clock",
+    "Tap the square alarm clock's top button with the right arm",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Click the button centered on the clock with black hands.",
+    "Use the right arm to activate the clock with black hands's button",
+    "Locate and press the top button on the alarm clock with green stripe",
+    "Tap the center button on the small clock with rounded edges.",
+    "Use the right arm to click the top center button on the clock with black hands.",
+    "Touch the clock with white dial's center top button with the right arm",
+    "Hit the center of the square alarm clock's top button",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top button center",
+    "Click the top center button of the square alarm clock",
+    "Use the right arm to press the alarm clock with green stripe button",
+    "Press the top button in the palm-sized dark blue clock's center.",
+    "Locate and press the clock with black hands's top center button",
+    "Push the center area of the small clock with rounded edges's top",
+    "Click the palm-sized dark blue clock's top center button using the right arm.",
+    "Press the button on the alarm clock with green stripe's top side",
+    "Use the right arm to tap the small plastic alarm clock's top center button.",
+    "Use the right arm to press the central button on the rounded square-shaped alarm clock.",
+    "Press the center top button of the palm-sized dark blue clock",
+    "the right arm presses the center top button on the palm-sized dark blue clock",
+    "Press the center top button on the dark blue clock with the right arm",
+    "Touch the blue clock with green stripe's button on the top side.",
+    "Activate the alarm clock with green stripe by pressing its top",
+    "Tap the button at the dark blue clock's top center.",
+    "Activate the square alarm clock by pressing the top button",
+    "Use the right arm to click the center button on the clock with black hands",
+    "Push the top button of the palm-sized dark blue clock using the right arm",
+    "Press the top button at the rounded square-shaped alarm clock's center.",
+    "Use the right arm to tap the clock with white dial's central button.",
+    "the right arm activates the rounded square-shaped alarm clock by clicking the top button",
+    "Click the middle button on the blue clock with green stripe's top side",
+    "the right arm clicks the center top button on the clock with black hands",
+    "Press the square alarm clock's top button using the right arm",
+    "Guide the right arm to press the centered button on the square alarm clock.",
+    "Activate the clock with white dial by clicking its top button",
+    "Use the right arm to press the rounded square-shaped alarm clock's top button",
+    "Click the center of the palm-sized dark blue clock's top",
+    "Push the central button on the white-faced alarm clock's top side.",
+    "Click the button centered on the dark blue clock's top.",
+    "Use the right arm to press the center top of the white-faced alarm clock",
+    "Ensure the right arm clicks the top center button of the alarm clock with green stripe",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Use the right arm to click the top of the clock with white dial",
+    "Direct the right arm to click the button found on the white-faced alarm clock.",
+    "Press the top middle button of the square alarm clock",
+    "Use the right arm to press the rounded square-shaped alarm clock's top center button.",
+    "Click the center button on the blue clock with green stripe's top side.",
+    "Point the right arm to press the button of the small clock with rounded edges.",
+    "Push the top button on the dark blue clock",
+    "Tap the white-faced alarm clock's top button with the right arm",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Click the button centered on the clock with white dial.",
+    "Use the right arm to activate the small plastic alarm clock's button",
+    "Locate and press the top button on the square alarm clock",
+    "Tap the center button on the white-faced alarm clock.",
+    "Use the right arm to click the top center button on the square alarm clock.",
+    "Touch the clock with black hands's center top button with the right arm",
+    "Hit the center of the square plastic alarm clock's top button",
+    "Use the right arm to tap the palm-sized dark blue clock's top button center",
+    "Click the top center button of the small plastic alarm clock",
+    "Use the right arm to press the clock with white dial button",
+    "Press the top button in the square alarm clock's center.",
+    "Locate and press the small plastic alarm clock's top center button",
+    "Push the center area of the blue clock with green stripe's top",
+    "Click the square plastic alarm clock's top center button using the right arm.",
+    "Press the button on the clock with black hands's top side",
+    "Use the right arm to tap the square alarm clock's top center button.",
+    "Use the right arm to press the central button on the white-faced alarm clock.",
+    "Press the center top button of the square alarm clock",
+    "the right arm presses the center top button on the dark blue clock",
+    "Press the center top button on the clock with black hands with the right arm",
+    "Touch the square plastic alarm clock's button on the top side.",
+    "Activate the clock with black hands by pressing its top",
+    "Tap the button at the clock with white dial's top center.",
+    "Activate the small plastic alarm clock by pressing the top button",
+    "Use the right arm to click the center button on the small plastic alarm clock",
+    "Push the top button of the square plastic alarm clock using the right arm",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Use the right arm to tap the blue clock with green stripe's central button.",
+    "the right arm activates the small clock with rounded edges by clicking the top button",
+    "Click the middle button on the small plastic alarm clock's top side",
+    "the right arm clicks the center top button on the clock with black hands",
+    "Press the clock with white dial's top button using the right arm",
+    "Guide the right arm to press the centered button on the white-faced alarm clock.",
+    "Activate the clock with black hands by clicking its top button",
+    "Use the right arm to press the clock with white dial's top button",
+    "Click the center of the blue clock with green stripe's top"
+  ],
+  "unseen": [
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode8.json b/click_alarmclock/demo_diverse/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3b5f24c4dec56dbcc7d8a429ea48f88cd25a783
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to tap the rectangular alarm-clock's top center button.",
+    "Click the alarm-clock with buttons on side's top center button using the left arm.",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Guide the left arm to press the centered button on the lightweight plastic alarm-clock.",
+    "Use the left arm to activate the black alarm-clock's button",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "Push the central button on the alarm-clock with rounded edges's top side.",
+    "Click the center button on the alarm-clock with rounded edges's top side.",
+    "Click the button centered on the small alarm-clock.",
+    "Ensure the left arm clicks the top center button of the compact alarm-clock",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Hit the center of the small alarm-clock's top button",
+    "Tap the center button on the compact alarm-clock.",
+    "Tap the button at the lightweight plastic alarm-clock's top center.",
+    "Use the left arm to press the lightweight plastic alarm-clock's top center button.",
+    "Direct the left arm to click the button found on the smooth black alarm-clock.",
+    "Locate and press the top button on the black alarm-clock",
+    "Push the top button on the smooth black alarm-clock",
+    "the left arm clicks the center top button on the small alarm-clock",
+    "Use the left arm to press the alarm-clock with digital display's top button",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "Press the top button in the palm-sized alarm-clock's center.",
+    "Tap the alarm-clock with digital display's top button with the left arm",
+    "Use the left arm to tap the compact alarm-clock's top button center",
+    "Press the center top button of the alarm-clock with buttons on side",
+    "Activate the alarm-clock with buttons on side by pressing its top",
+    "Use the left arm to press the alarm-clock with buttons on side button",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges.",
+    "Push the top button of the alarm-clock with rounded edges using the left arm",
+    "Click the top center button of the alarm-clock with digital display",
+    "the left arm activates the digital screen alarm-clock by clicking the top button",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Touch the alarm-clock with rounded edges's center top button with the left arm",
+    "Use the left arm to press the center top of the compact alarm-clock",
+    "Use the left arm to tap the digital screen alarm-clock's central button.",
+    "Press the top button at the compact alarm-clock's center.",
+    "Use the left arm to click the top of the black alarm-clock",
+    "Use the left arm to click the top center button on the rectangular alarm-clock.",
+    "Push the button on the digital screen alarm-clock's top center.",
+    "Use the left arm to click the center button on the alarm-clock with buttons on side",
+    "Press the small alarm-clock's top button using the left arm",
+    "Point the left arm to press the button of the small alarm-clock.",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Press the top middle button of the lightweight plastic alarm-clock",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Activate the smooth black alarm-clock by pressing the top button",
+    "Click the center of the black matte alarm-clock's top",
+    "the left arm presses the center top button on the digital screen alarm-clock",
+    "Press the center top button on the smooth black alarm-clock with the left arm",
+    "Use the left arm to tap the smooth black alarm-clock's top center button.",
+    "Click the compact alarm-clock's top center button using the left arm.",
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Guide the left arm to press the centered button on the small alarm-clock.",
+    "Use the left arm to activate the black matte alarm-clock's button",
+    "Locate and press the smooth black alarm-clock's top center button",
+    "Push the central button on the black matte alarm-clock's top side.",
+    "Click the center button on the small alarm-clock's top side.",
+    "Click the button centered on the smooth black alarm-clock.",
+    "Ensure the left arm clicks the top center button of the alarm-clock with rounded edges",
+    "Activate the alarm-clock with rounded edges by clicking its top button",
+    "Hit the center of the small alarm-clock's top button",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Use the left arm to press the black matte alarm-clock's top center button.",
+    "Direct the left arm to click the button found on the alarm-clock with digital display.",
+    "Locate and press the top button on the alarm-clock with rounded edges",
+    "Push the top button on the alarm-clock with digital display",
+    "the left arm clicks the center top button on the lightweight plastic alarm-clock",
+    "Use the left arm to press the palm-sized alarm-clock's top button",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Push the center area of the alarm-clock with digital display's top",
+    "Press the top button in the lightweight plastic alarm-clock's center.",
+    "Tap the alarm-clock with buttons on side's top button with the left arm",
+    "Use the left arm to tap the alarm-clock with digital display's top button center",
+    "Press the center top button of the black alarm-clock",
+    "Activate the digital screen alarm-clock by pressing its top",
+    "Use the left arm to press the digital screen alarm-clock button",
+    "Use the left arm to press the central button on the alarm-clock with digital display.",
+    "Push the top button of the digital screen alarm-clock using the left arm",
+    "Click the top center button of the rectangular alarm-clock",
+    "the left arm activates the black matte alarm-clock by clicking the top button",
+    "Press the button on the compact alarm-clock's top side",
+    "Touch the alarm-clock with rounded edges's center top button with the left arm",
+    "Use the left arm to press the center top of the alarm-clock with digital display",
+    "Use the left arm to tap the small alarm-clock's central button.",
+    "Press the top button at the alarm-clock with buttons on side's center.",
+    "Use the left arm to click the top of the digital screen alarm-clock",
+    "Use the left arm to click the top center button on the alarm-clock with rounded edges.",
+    "Push the button on the black alarm-clock's top center.",
+    "Use the left arm to click the center button on the small alarm-clock",
+    "Press the compact alarm-clock's top button using the left arm",
+    "Point the left arm to press the button of the alarm-clock with rounded edges.",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Click the center of the compact alarm-clock's top",
+    "the left arm presses the center top button on the rectangular alarm-clock",
+    "Press the center top button on the smooth black alarm-clock with the left arm"
+  ],
+  "unseen": [
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode80.json b/click_alarmclock/demo_diverse/instructions/episode80.json
new file mode 100644
index 0000000000000000000000000000000000000000..427c0f8195497b1b051f8c900167769a60eaaf16
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode80.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to press the palm-sized alarm-clock's top button",
+    "Use the right arm to click the top center button on the lightweight plastic alarm-clock.",
+    "the right arm activates the small alarm-clock by clicking the top button",
+    "Direct the right arm to click the button found on the alarm-clock with rounded edges.",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Press the top middle button of the black alarm-clock",
+    "Use the right arm to press the central button on the digital screen alarm-clock.",
+    "Click the center of the alarm-clock with digital display's top",
+    "Touch the alarm-clock with buttons on side's center top button with the right arm",
+    "Click the button centered on the alarm-clock with digital display's top.",
+    "Use the right arm to click the top of the black matte alarm-clock",
+    "Click the top center button of the black alarm-clock",
+    "Guide the right arm to press the centered button on the palm-sized alarm-clock.",
+    "Use the right arm to activate the alarm-clock with buttons on side's button",
+    "Press the top button in the alarm-clock with buttons on side's center.",
+    "Press the center top button on the small alarm-clock with the right arm",
+    "Press the button on the digital screen alarm-clock's top side",
+    "Locate and press the alarm-clock with digital display's top center button",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Push the top button on the small alarm-clock",
+    "Click the center button on the small alarm-clock's top side.",
+    "Press the center top button of the rectangular alarm-clock",
+    "Use the right arm to press the center top of the alarm-clock with buttons on side",
+    "Push the top button of the compact alarm-clock using the right arm",
+    "Ensure the right arm clicks the top center button of the lightweight plastic alarm-clock",
+    "the right arm clicks the center top button on the rectangular alarm-clock",
+    "Point the right arm to press the button of the alarm-clock with rounded edges.",
+    "Use the right arm to tap the compact alarm-clock's top button center",
+    "the right arm presses the center top button on the compact alarm-clock",
+    "Activate the alarm-clock with digital display by pressing the top button",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Click the button centered on the digital screen alarm-clock.",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Tap the button at the small alarm-clock's top center.",
+    "Use the right arm to tap the digital screen alarm-clock's central button.",
+    "Use the right arm to press the alarm-clock with rounded edges's top center button.",
+    "Locate and press the top button on the black matte alarm-clock",
+    "Press the rectangular alarm-clock's top button using the right arm",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Push the center area of the black matte alarm-clock's top",
+    "Touch the black matte alarm-clock's button on the top side.",
+    "Click the alarm-clock with buttons on side's top center button using the right arm.",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Hit the center of the alarm-clock with buttons on side's top button",
+    "Activate the alarm-clock with rounded edges by clicking its top button",
+    "Tap the center button on the alarm-clock with rounded edges.",
+    "Use the right arm to press the alarm-clock with buttons on side button",
+    "Push the button on the small alarm-clock's top center.",
+    "Tap the smooth black alarm-clock's top button with the right arm",
+    "Use the right arm to click the center button on the rectangular alarm-clock",
+    "Use the right arm to press the black alarm-clock's top button",
+    "Use the right arm to click the top center button on the smooth black alarm-clock.",
+    "the right arm activates the alarm-clock with buttons on side by clicking the top button",
+    "Direct the right arm to click the button found on the smooth black alarm-clock.",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Press the top middle button of the digital screen alarm-clock",
+    "Use the right arm to press the central button on the digital screen alarm-clock.",
+    "Click the center of the alarm-clock with rounded edges's top",
+    "Touch the black matte alarm-clock's center top button with the right arm",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Use the right arm to click the top of the alarm-clock with digital display",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Guide the right arm to press the centered button on the alarm-clock with digital display.",
+    "Use the right arm to activate the rectangular alarm-clock's button",
+    "Press the top button in the black alarm-clock's center.",
+    "Press the center top button on the black matte alarm-clock with the right arm",
+    "Press the button on the alarm-clock with digital display's top side",
+    "Locate and press the alarm-clock with rounded edges's top center button",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Push the top button on the small alarm-clock",
+    "Click the center button on the black alarm-clock's top side.",
+    "Press the center top button of the black matte alarm-clock",
+    "Use the right arm to press the center top of the smooth black alarm-clock",
+    "Push the top button of the rectangular alarm-clock using the right arm",
+    "Ensure the right arm clicks the top center button of the smooth black alarm-clock",
+    "the right arm clicks the center top button on the black alarm-clock",
+    "Point the right arm to press the button of the compact alarm-clock.",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top button center",
+    "the right arm presses the center top button on the black matte alarm-clock",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Click the button centered on the digital screen alarm-clock.",
+    "Use the right arm to tap the compact alarm-clock's top center button.",
+    "Tap the button at the alarm-clock with rounded edges's top center.",
+    "Use the right arm to tap the digital screen alarm-clock's central button.",
+    "Use the right arm to press the alarm-clock with rounded edges's top center button.",
+    "Locate and press the top button on the small alarm-clock",
+    "Press the smooth black alarm-clock's top button using the right arm",
+    "Press the top button at the lightweight plastic alarm-clock's center.",
+    "Push the center area of the lightweight plastic alarm-clock's top",
+    "Touch the small alarm-clock's button on the top side.",
+    "Click the digital screen alarm-clock's top center button using the right arm.",
+    "Click the middle button on the small alarm-clock's top side",
+    "Hit the center of the digital screen alarm-clock's top button",
+    "Activate the digital screen alarm-clock by clicking its top button",
+    "Tap the center button on the alarm-clock with buttons on side.",
+    "Use the right arm to press the smooth black alarm-clock button",
+    "Push the button on the alarm-clock with buttons on side's top center.",
+    "Tap the black alarm-clock's top button with the right arm",
+    "Use the right arm to click the center button on the black matte alarm-clock"
+  ],
+  "unseen": [
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode81.json b/click_alarmclock/demo_diverse/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..66223749615209ba7245bddaf51f11e0a2fc2c9c
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the square plastic alarm clock's top button with the right arm",
+    "the right arm activates the clock with white dial by clicking the top button",
+    "Use the right arm to press the center top of the small clock with rounded edges",
+    "Press the palm-sized dark blue clock's top button using the right arm",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Use the right arm to press the small clock with rounded edges's top center button.",
+    "Use the right arm to click the top of the palm-sized dark blue clock",
+    "Click the center of the dark blue clock's top",
+    "Touch the clock with white dial's button on the top side.",
+    "Use the right arm to press the central button on the square plastic alarm clock.",
+    "Push the button on the small clock with rounded edges's top center.",
+    "Click the middle button on the dark blue clock's top side",
+    "Use the right arm to click the top center button on the small clock with rounded edges.",
+    "Use the right arm to click the center button on the white-faced alarm clock",
+    "Press the top button at the clock with black hands's center.",
+    "Click the center button on the square alarm clock's top side.",
+    "Use the right arm to tap the palm-sized dark blue clock's central button.",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Push the top button on the palm-sized dark blue clock",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "Use the right arm to tap the clock with white dial's top center button.",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Click the button centered on the clock with black hands's top.",
+    "Press the center top button of the palm-sized dark blue clock",
+    "Point the right arm to press the button of the white-faced alarm clock.",
+    "Locate and press the top button on the square alarm clock",
+    "Use the right arm to press the palm-sized dark blue clock's top button",
+    "Push the top button of the square plastic alarm clock using the right arm",
+    "Use the right arm to activate the small clock with rounded edges's button",
+    "Activate the square plastic alarm clock by clicking its top button",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "Press the button on the small clock with rounded edges's top side",
+    "Click the button centered on the small plastic alarm clock.",
+    "Ensure the right arm clicks the top center button of the small clock with rounded edges",
+    "Touch the palm-sized dark blue clock's center top button with the right arm",
+    "Use the right arm to tap the alarm clock with green stripe's top button center",
+    "Press the center top button on the rounded square-shaped alarm clock with the right arm",
+    "Direct the right arm to click the button found on the palm-sized dark blue clock.",
+    "Click the small clock with rounded edges's top center button using the right arm.",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "Hit the center of the square plastic alarm clock's top button",
+    "Click the top center button of the white-faced alarm clock",
+    "Use the right arm to press the clock with white dial button",
+    "Locate and press the square alarm clock's top center button",
+    "Tap the center button on the clock with black hands.",
+    "Activate the rounded square-shaped alarm clock by pressing the top button",
+    "the right arm presses the center top button on the alarm clock with green stripe",
+    "Tap the small plastic alarm clock's top button with the right arm",
+    "the right arm activates the square plastic alarm clock by clicking the top button",
+    "Use the right arm to press the center top of the dark blue clock",
+    "Press the rounded square-shaped alarm clock's top button using the right arm",
+    "Press the top button in the square alarm clock's center.",
+    "Use the right arm to press the square alarm clock's top center button.",
+    "Use the right arm to click the top of the dark blue clock",
+    "Click the center of the palm-sized dark blue clock's top",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Use the right arm to press the central button on the palm-sized dark blue clock.",
+    "Push the button on the small plastic alarm clock's top center.",
+    "Click the middle button on the small plastic alarm clock's top side",
+    "Use the right arm to click the top center button on the square plastic alarm clock.",
+    "Use the right arm to click the center button on the palm-sized dark blue clock",
+    "Press the top button at the white-faced alarm clock's center.",
+    "Click the center button on the small plastic alarm clock's top side.",
+    "Use the right arm to tap the clock with black hands's central button.",
+    "Press the top middle button of the small clock with rounded edges",
+    "Push the top button on the clock with white dial",
+    "the right arm clicks the center top button on the clock with black hands",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Use the right arm to tap the dark blue clock's top center button.",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Click the button centered on the square alarm clock's top.",
+    "Press the center top button of the square plastic alarm clock",
+    "Point the right arm to press the button of the dark blue clock.",
+    "Locate and press the top button on the square plastic alarm clock",
+    "Use the right arm to press the clock with white dial's top button",
+    "Push the top button of the clock with black hands using the right arm",
+    "Use the right arm to activate the dark blue clock's button",
+    "Activate the clock with white dial by clicking its top button",
+    "Push the central button on the square plastic alarm clock's top side.",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Press the button on the clock with white dial's top side",
+    "Click the button centered on the dark blue clock.",
+    "Ensure the right arm clicks the top center button of the small plastic alarm clock",
+    "Touch the square alarm clock's center top button with the right arm",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "Press the center top button on the rounded square-shaped alarm clock with the right arm",
+    "Direct the right arm to click the button found on the clock with black hands.",
+    "Click the clock with white dial's top center button using the right arm.",
+    "Guide the right arm to press the centered button on the rounded square-shaped alarm clock.",
+    "Hit the center of the white-faced alarm clock's top button",
+    "Click the top center button of the clock with black hands",
+    "Use the right arm to press the rounded square-shaped alarm clock button",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Tap the center button on the white-faced alarm clock.",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "the right arm presses the center top button on the white-faced alarm clock"
+  ],
+  "unseen": [
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode82.json b/click_alarmclock/demo_diverse/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fd064fbbf1569bd265a01a653649ee6f90d3aca
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to press the center top of the alarm clock with green stripe",
+    "Locate and press the top button on the clock with white dial",
+    "Push the button on the small clock with rounded edges's top center.",
+    "Ensure the left arm clicks the top center button of the clock with white dial",
+    "Use the left arm to press the clock with black hands's top center button.",
+    "Click the center button on the small clock with rounded edges's top side.",
+    "Use the left arm to press the palm-sized dark blue clock button",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Use the left arm to press the dark blue clock's top button",
+    "Use the left arm to tap the clock with black hands's central button.",
+    "Click the center of the small clock with rounded edges's top",
+    "Direct the left arm to click the button found on the small clock with rounded edges.",
+    "Tap the clock with black hands's top button with the left arm",
+    "the left arm activates the palm-sized dark blue clock by clicking the top button",
+    "Guide the left arm to press the centered button on the clock with black hands.",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "Click the button centered on the square plastic alarm clock's top.",
+    "Activate the palm-sized dark blue clock by pressing the top button",
+    "the left arm clicks the center top button on the white-faced alarm clock",
+    "Press the center top button on the clock with black hands with the left arm",
+    "Use the left arm to activate the white-faced alarm clock's button",
+    "Use the left arm to tap the clock with black hands's top button center",
+    "Press the top button at the square alarm clock's center.",
+    "Use the left arm to press the central button on the alarm clock with green stripe.",
+    "Push the top button of the dark blue clock using the left arm",
+    "Use the left arm to click the center button on the blue clock with green stripe",
+    "Use the left arm to click the top of the clock with black hands",
+    "Use the left arm to tap the blue clock with green stripe's top center button.",
+    "Point the left arm to press the button of the dark blue clock.",
+    "Click the top center button of the small plastic alarm clock",
+    "Activate the clock with black hands by pressing its top",
+    "Touch the alarm clock with green stripe's center top button with the left arm",
+    "Push the central button on the rounded square-shaped alarm clock's top side.",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "Click the button centered on the clock with white dial.",
+    "Press the rounded square-shaped alarm clock's top button using the left arm",
+    "the left arm presses the center top button on the palm-sized dark blue clock",
+    "Click the white-faced alarm clock's top center button using the left arm.",
+    "Press the top button in the clock with white dial's center.",
+    "Push the top button on the clock with black hands",
+    "Touch the palm-sized dark blue clock's button on the top side.",
+    "Use the left arm to click the top center button on the dark blue clock.",
+    "Press the top middle button of the palm-sized dark blue clock",
+    "Click the middle button on the blue clock with green stripe's top side",
+    "Tap the button at the clock with white dial's top center.",
+    "Tap the center button on the clock with black hands.",
+    "Press the center top button of the clock with white dial",
+    "Press the button on the square plastic alarm clock's top side",
+    "Hit the center of the small clock with rounded edges's top button",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Use the left arm to press the center top of the blue clock with green stripe",
+    "Locate and press the top button on the square alarm clock",
+    "Push the button on the rounded square-shaped alarm clock's top center.",
+    "Ensure the left arm clicks the top center button of the rounded square-shaped alarm clock",
+    "Use the left arm to press the palm-sized dark blue clock's top center button.",
+    "Click the center button on the alarm clock with green stripe's top side.",
+    "Use the left arm to press the clock with black hands button",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Use the left arm to press the clock with white dial's top button",
+    "Use the left arm to tap the small plastic alarm clock's central button.",
+    "Click the center of the rounded square-shaped alarm clock's top",
+    "Direct the left arm to click the button found on the white-faced alarm clock.",
+    "Tap the rounded square-shaped alarm clock's top button with the left arm",
+    "the left arm activates the clock with black hands by clicking the top button",
+    "Guide the left arm to press the centered button on the dark blue clock.",
+    "Push the center area of the square plastic alarm clock's top",
+    "Click the button centered on the dark blue clock's top.",
+    "Activate the rounded square-shaped alarm clock by pressing the top button",
+    "the left arm clicks the center top button on the white-faced alarm clock",
+    "Press the center top button on the palm-sized dark blue clock with the left arm",
+    "Use the left arm to activate the square alarm clock's button",
+    "Use the left arm to tap the small plastic alarm clock's top button center",
+    "Press the top button at the blue clock with green stripe's center.",
+    "Use the left arm to press the central button on the blue clock with green stripe.",
+    "Push the top button of the dark blue clock using the left arm",
+    "Use the left arm to click the center button on the white-faced alarm clock",
+    "Use the left arm to click the top of the square plastic alarm clock",
+    "Use the left arm to tap the clock with white dial's top center button.",
+    "Point the left arm to press the button of the white-faced alarm clock.",
+    "Click the top center button of the clock with black hands",
+    "Activate the square plastic alarm clock by pressing its top",
+    "Touch the square plastic alarm clock's center top button with the left arm",
+    "Push the central button on the white-faced alarm clock's top side.",
+    "Activate the small clock with rounded edges by clicking its top button",
+    "Click the button centered on the small plastic alarm clock.",
+    "Press the small plastic alarm clock's top button using the left arm",
+    "the left arm presses the center top button on the square alarm clock",
+    "Click the dark blue clock's top center button using the left arm.",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Push the top button on the rounded square-shaped alarm clock",
+    "Touch the palm-sized dark blue clock's button on the top side.",
+    "Use the left arm to click the top center button on the white-faced alarm clock.",
+    "Press the top middle button of the blue clock with green stripe",
+    "Click the middle button on the palm-sized dark blue clock's top side",
+    "Tap the button at the blue clock with green stripe's top center.",
+    "Tap the center button on the clock with black hands.",
+    "Press the center top button of the white-faced alarm clock",
+    "Press the button on the palm-sized dark blue clock's top side",
+    "Hit the center of the small clock with rounded edges's top button",
+    "Locate and press the palm-sized dark blue clock's top center button"
+  ],
+  "unseen": [
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode83.json b/click_alarmclock/demo_diverse/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..a466efe314db6ce0311237344473a43ff910f789
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to tap the palm-sized alarm-clock's central button.",
+    "the right arm activates the alarm-clock with buttons on side by clicking the top button",
+    "Push the top button on the alarm-clock with rounded edges",
+    "Use the right arm to click the center button on the lightweight plastic alarm-clock",
+    "Locate and press the top button on the smooth black alarm-clock",
+    "the right arm presses the center top button on the palm-sized alarm-clock",
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "the right arm clicks the center top button on the rectangular alarm-clock",
+    "Direct the right arm to click the button found on the alarm-clock with buttons on side.",
+    "Use the right arm to activate the palm-sized alarm-clock's button",
+    "Guide the right arm to press the centered button on the compact alarm-clock.",
+    "Use the right arm to press the digital screen alarm-clock's top center button.",
+    "Hit the center of the rectangular alarm-clock's top button",
+    "Push the button on the rectangular alarm-clock's top center.",
+    "Tap the smooth black alarm-clock's top button with the right arm",
+    "Click the middle button on the palm-sized alarm-clock's top side",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Use the right arm to click the top center button on the alarm-clock with digital display.",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Locate and press the compact alarm-clock's top center button",
+    "Tap the center button on the alarm-clock with digital display.",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Touch the smooth black alarm-clock's center top button with the right arm",
+    "Touch the small alarm-clock's button on the top side.",
+    "Press the top button at the palm-sized alarm-clock's center.",
+    "Click the button centered on the alarm-clock with buttons on side's top.",
+    "Push the top button of the lightweight plastic alarm-clock using the right arm",
+    "Press the center top button of the palm-sized alarm-clock",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Use the right arm to press the center top of the small alarm-clock",
+    "Use the right arm to press the black alarm-clock's top button",
+    "Tap the button at the alarm-clock with digital display's top center.",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Click the button centered on the digital screen alarm-clock.",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "Point the right arm to press the button of the digital screen alarm-clock.",
+    "Press the black alarm-clock's top button using the right arm",
+    "Click the top center button of the digital screen alarm-clock",
+    "Press the center button on the smooth black alarm-clock's top.",
+    "Use the right arm to click the top of the rectangular alarm-clock",
+    "Press the center top button on the compact alarm-clock with the right arm",
+    "Ensure the right arm clicks the top center button of the black matte alarm-clock",
+    "Use the right arm to press the smooth black alarm-clock button",
+    "Click the compact alarm-clock's top center button using the right arm.",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "Use the right arm to press the central button on the black alarm-clock.",
+    "Use the right arm to tap the palm-sized alarm-clock's top button center",
+    "Use the right arm to tap the smooth black alarm-clock's central button.",
+    "the right arm activates the compact alarm-clock by clicking the top button",
+    "Push the top button on the alarm-clock with buttons on side",
+    "Use the right arm to click the center button on the compact alarm-clock",
+    "Locate and press the top button on the compact alarm-clock",
+    "the right arm presses the center top button on the black alarm-clock",
+    "Activate the alarm-clock with rounded edges by pressing its top",
+    "the right arm clicks the center top button on the small alarm-clock",
+    "Direct the right arm to click the button found on the smooth black alarm-clock.",
+    "Use the right arm to activate the lightweight plastic alarm-clock's button",
+    "Guide the right arm to press the centered button on the digital screen alarm-clock.",
+    "Use the right arm to press the black alarm-clock's top center button.",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Tap the smooth black alarm-clock's top button with the right arm",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Press the button on the lightweight plastic alarm-clock's top side",
+    "Use the right arm to click the top center button on the alarm-clock with buttons on side.",
+    "Click the center button on the rectangular alarm-clock's top side.",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Locate and press the alarm-clock with digital display's top center button",
+    "Tap the center button on the small alarm-clock.",
+    "Use the right arm to tap the black alarm-clock's top center button.",
+    "Touch the palm-sized alarm-clock's center top button with the right arm",
+    "Touch the smooth black alarm-clock's button on the top side.",
+    "Press the top button at the alarm-clock with rounded edges's center.",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Push the top button of the small alarm-clock using the right arm",
+    "Press the center top button of the digital screen alarm-clock",
+    "Press the top middle button of the small alarm-clock",
+    "Use the right arm to press the center top of the rectangular alarm-clock",
+    "Use the right arm to press the alarm-clock with buttons on side's top button",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Click the button centered on the alarm-clock with rounded edges.",
+    "Click the center of the alarm-clock with digital display's top",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Point the right arm to press the button of the black matte alarm-clock.",
+    "Press the palm-sized alarm-clock's top button using the right arm",
+    "Click the top center button of the alarm-clock with digital display",
+    "Press the center button on the lightweight plastic alarm-clock's top.",
+    "Use the right arm to click the top of the smooth black alarm-clock",
+    "Press the center top button on the black matte alarm-clock with the right arm",
+    "Ensure the right arm clicks the top center button of the palm-sized alarm-clock",
+    "Use the right arm to press the alarm-clock with rounded edges button",
+    "Click the black matte alarm-clock's top center button using the right arm.",
+    "Activate the digital screen alarm-clock by clicking its top button",
+    "Use the right arm to press the central button on the black alarm-clock.",
+    "Use the right arm to tap the alarm-clock with digital display's top button center"
+  ],
+  "unseen": [
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode85.json b/click_alarmclock/demo_diverse/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec1b38b979668ded57e32c0d3c45653d1d89662b
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the right arm activates the small plastic alarm clock by clicking the top button",
+    "Activate the dark blue clock by pressing its top",
+    "the right arm clicks the center top button on the square plastic alarm clock",
+    "Locate and press the top button on the blue clock with green stripe",
+    "Use the right arm to tap the small clock with rounded edges's top button center",
+    "Hit the center of the clock with black hands's top button",
+    "Press the button on the palm-sized dark blue clock's top side",
+    "Click the top center button of the palm-sized dark blue clock",
+    "Ensure the right arm clicks the top center button of the clock with black hands",
+    "Tap the button at the white-faced alarm clock's top center.",
+    "Click the button centered on the alarm clock with green stripe's top.",
+    "Guide the right arm to press the centered button on the small clock with rounded edges.",
+    "Activate the small plastic alarm clock by pressing the top button",
+    "Press the top middle button of the small clock with rounded edges",
+    "Use the right arm to press the center top of the alarm clock with green stripe",
+    "Push the top button on the square alarm clock",
+    "Use the right arm to tap the rounded square-shaped alarm clock's central button.",
+    "Press the clock with white dial's top button using the right arm",
+    "Push the button on the blue clock with green stripe's top center.",
+    "Direct the right arm to click the button found on the palm-sized dark blue clock.",
+    "Press the center top button of the blue clock with green stripe",
+    "Use the right arm to press the central button on the clock with black hands.",
+    "Tap the white-faced alarm clock's top button with the right arm",
+    "Use the right arm to press the square alarm clock's top button",
+    "Use the right arm to press the dark blue clock button",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Push the center area of the clock with white dial's top",
+    "the right arm presses the center top button on the white-faced alarm clock",
+    "Click the button centered on the clock with white dial.",
+    "Click the center button on the dark blue clock's top side.",
+    "Tap the center button on the square plastic alarm clock.",
+    "Point the right arm to press the button of the palm-sized dark blue clock.",
+    "Press the center top button on the white-faced alarm clock with the right arm",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "Use the right arm to click the top center button on the white-faced alarm clock.",
+    "Touch the square plastic alarm clock's center top button with the right arm",
+    "Click the middle button on the dark blue clock's top side",
+    "Use the right arm to click the top of the clock with black hands",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Press the center button on the small clock with rounded edges's top.",
+    "Push the top button of the alarm clock with green stripe using the right arm",
+    "Use the right arm to press the white-faced alarm clock's top center button.",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Use the right arm to click the center button on the clock with white dial",
+    "Click the clock with black hands's top center button using the right arm.",
+    "Click the center of the white-faced alarm clock's top",
+    "Push the central button on the square alarm clock's top side.",
+    "Use the right arm to activate the square plastic alarm clock's button",
+    "Locate and press the clock with black hands's top center button",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "the right arm activates the blue clock with green stripe by clicking the top button",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "the right arm clicks the center top button on the clock with white dial",
+    "Locate and press the top button on the clock with black hands",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "Hit the center of the white-faced alarm clock's top button",
+    "Press the button on the white-faced alarm clock's top side",
+    "Click the top center button of the rounded square-shaped alarm clock",
+    "Ensure the right arm clicks the top center button of the small clock with rounded edges",
+    "Tap the button at the blue clock with green stripe's top center.",
+    "Click the button centered on the clock with black hands's top.",
+    "Guide the right arm to press the centered button on the white-faced alarm clock.",
+    "Activate the rounded square-shaped alarm clock by pressing the top button",
+    "Press the top middle button of the square alarm clock",
+    "Use the right arm to press the center top of the alarm clock with green stripe",
+    "Push the top button on the small plastic alarm clock",
+    "Use the right arm to tap the white-faced alarm clock's central button.",
+    "Press the small plastic alarm clock's top button using the right arm",
+    "Push the button on the small clock with rounded edges's top center.",
+    "Direct the right arm to click the button found on the small clock with rounded edges.",
+    "Press the center top button of the small clock with rounded edges",
+    "Use the right arm to press the central button on the white-faced alarm clock.",
+    "Tap the square plastic alarm clock's top button with the right arm",
+    "Use the right arm to press the small clock with rounded edges's top button",
+    "Use the right arm to press the clock with black hands button",
+    "Use the right arm to tap the blue clock with green stripe's top center button.",
+    "Push the center area of the white-faced alarm clock's top",
+    "the right arm presses the center top button on the dark blue clock",
+    "Click the button centered on the square plastic alarm clock.",
+    "Click the center button on the white-faced alarm clock's top side.",
+    "Tap the center button on the small plastic alarm clock.",
+    "Point the right arm to press the button of the small clock with rounded edges.",
+    "Press the center top button on the small clock with rounded edges with the right arm",
+    "Press the top button at the small plastic alarm clock's center.",
+    "Use the right arm to click the top center button on the small plastic alarm clock.",
+    "Touch the rounded square-shaped alarm clock's center top button with the right arm",
+    "Click the middle button on the clock with black hands's top side",
+    "Use the right arm to click the top of the small plastic alarm clock",
+    "Press the top button in the rounded square-shaped alarm clock's center.",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Push the top button of the clock with black hands using the right arm",
+    "Use the right arm to press the blue clock with green stripe's top center button.",
+    "Touch the dark blue clock's button on the top side.",
+    "Use the right arm to click the center button on the clock with white dial",
+    "Click the small plastic alarm clock's top center button using the right arm.",
+    "Click the center of the square plastic alarm clock's top",
+    "Push the central button on the clock with black hands's top side.",
+    "Use the right arm to activate the small clock with rounded edges's button",
+    "Locate and press the palm-sized dark blue clock's top center button",
+    "Activate the rounded square-shaped alarm clock by clicking its top button"
+  ],
+  "unseen": [
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the right arm to click the blue alarm clock's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode86.json b/click_alarmclock/demo_diverse/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c4752d3a2dc569db6fa4f16ec03990ea59b1ceb
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to press the central button on the alarm-clock with buttons on side.",
+    "Push the top button on the alarm-clock with digital display",
+    "Use the right arm to click the top center button on the alarm-clock with digital display.",
+    "Activate the black alarm-clock by pressing its top",
+    "Click the center button on the digital screen alarm-clock's top side.",
+    "Press the digital screen alarm-clock's top button using the right arm",
+    "Click the center of the alarm-clock with digital display's top",
+    "Click the button centered on the compact alarm-clock.",
+    "Use the right arm to tap the alarm-clock with digital display's top button center",
+    "Direct the right arm to click the button found on the alarm-clock with buttons on side.",
+    "Press the center top button of the alarm-clock with rounded edges",
+    "Press the button on the compact alarm-clock's top side",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Guide the right arm to press the centered button on the smooth black alarm-clock.",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "Use the right arm to press the small alarm-clock button",
+    "Touch the compact alarm-clock's center top button with the right arm",
+    "Push the top button of the lightweight plastic alarm-clock using the right arm",
+    "Use the right arm to press the alarm-clock with digital display's top button",
+    "Locate and press the top button on the black matte alarm-clock",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Touch the alarm-clock with rounded edges's button on the top side.",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Hit the center of the small alarm-clock's top button",
+    "Use the right arm to tap the alarm-clock with rounded edges's central button.",
+    "Locate and press the alarm-clock with digital display's top center button",
+    "Use the right arm to tap the black alarm-clock's top center button.",
+    "the right arm activates the digital screen alarm-clock by clicking the top button",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Press the center top button on the lightweight plastic alarm-clock with the right arm",
+    "Tap the digital screen alarm-clock's top button with the right arm",
+    "Ensure the right arm clicks the top center button of the black alarm-clock",
+    "Click the button centered on the alarm-clock with buttons on side's top.",
+    "Use the right arm to activate the compact alarm-clock's button",
+    "Press the top middle button of the alarm-clock with rounded edges",
+    "Activate the small alarm-clock by clicking its top button",
+    "Point the right arm to press the button of the compact alarm-clock.",
+    "Use the right arm to click the center button on the compact alarm-clock",
+    "Push the button on the alarm-clock with digital display's top center.",
+    "the right arm clicks the center top button on the black matte alarm-clock",
+    "Tap the button at the alarm-clock with buttons on side's top center.",
+    "Click the lightweight plastic alarm-clock's top center button using the right arm.",
+    "Use the right arm to press the center top of the small alarm-clock",
+    "Click the top center button of the palm-sized alarm-clock",
+    "Use the right arm to click the top of the smooth black alarm-clock",
+    "Use the right arm to press the digital screen alarm-clock's top center button.",
+    "Push the central button on the smooth black alarm-clock's top side.",
+    "Click the middle button on the lightweight plastic alarm-clock's top side",
+    "the right arm presses the center top button on the alarm-clock with digital display",
+    "Press the top button in the compact alarm-clock's center.",
+    "Use the right arm to press the central button on the palm-sized alarm-clock.",
+    "Push the top button on the alarm-clock with buttons on side",
+    "Use the right arm to click the top center button on the lightweight plastic alarm-clock.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Click the center button on the small alarm-clock's top side.",
+    "Press the digital screen alarm-clock's top button using the right arm",
+    "Click the center of the digital screen alarm-clock's top",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top button center",
+    "Direct the right arm to click the button found on the lightweight plastic alarm-clock.",
+    "Press the center top button of the digital screen alarm-clock",
+    "Press the button on the rectangular alarm-clock's top side",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Guide the right arm to press the centered button on the compact alarm-clock.",
+    "Press the top button at the compact alarm-clock's center.",
+    "Use the right arm to press the lightweight plastic alarm-clock button",
+    "Touch the alarm-clock with rounded edges's center top button with the right arm",
+    "Push the top button of the palm-sized alarm-clock using the right arm",
+    "Use the right arm to press the black alarm-clock's top button",
+    "Locate and press the top button on the black matte alarm-clock",
+    "Tap the center button on the compact alarm-clock.",
+    "Touch the rectangular alarm-clock's button on the top side.",
+    "Press the center button on the alarm-clock with digital display's top.",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Use the right arm to tap the smooth black alarm-clock's central button.",
+    "Locate and press the compact alarm-clock's top center button",
+    "Use the right arm to tap the alarm-clock with rounded edges's top center button.",
+    "the right arm activates the small alarm-clock by clicking the top button",
+    "Push the center area of the black alarm-clock's top",
+    "Press the center top button on the compact alarm-clock with the right arm",
+    "Tap the small alarm-clock's top button with the right arm",
+    "Ensure the right arm clicks the top center button of the small alarm-clock",
+    "Click the button centered on the alarm-clock with rounded edges's top.",
+    "Use the right arm to activate the digital screen alarm-clock's button",
+    "Press the top middle button of the compact alarm-clock",
+    "Activate the palm-sized alarm-clock by clicking its top button",
+    "Point the right arm to press the button of the small alarm-clock.",
+    "Use the right arm to click the center button on the palm-sized alarm-clock",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "the right arm clicks the center top button on the black alarm-clock",
+    "Tap the button at the black matte alarm-clock's top center.",
+    "Click the alarm-clock with rounded edges's top center button using the right arm.",
+    "Use the right arm to press the center top of the palm-sized alarm-clock",
+    "Click the top center button of the digital screen alarm-clock",
+    "Use the right arm to click the top of the compact alarm-clock",
+    "Use the right arm to press the smooth black alarm-clock's top center button.",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Click the middle button on the digital screen alarm-clock's top side",
+    "the right arm presses the center top button on the palm-sized alarm-clock",
+    "Press the top button in the alarm-clock with digital display's center."
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode87.json b/click_alarmclock/demo_diverse/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..04557d02f8c35c10585ae7220df1dae7333332bb
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode87.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the right arm presses the center top button on the clock with black hands",
+    "Push the top button of the blue clock with green stripe using the right arm",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "Use the right arm to press the central button on the white-faced alarm clock.",
+    "Click the middle button on the rounded square-shaped alarm clock's top side",
+    "Use the right arm to tap the alarm clock with green stripe's central button.",
+    "Activate the small plastic alarm clock by pressing its top",
+    "Use the right arm to press the center top of the square alarm clock",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "Click the top center button of the alarm clock with green stripe",
+    "the right arm activates the rounded square-shaped alarm clock by clicking the top button",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Click the small clock with rounded edges's top center button using the right arm.",
+    "Ensure the right arm clicks the top center button of the dark blue clock",
+    "Use the right arm to click the center button on the blue clock with green stripe",
+    "Press the top middle button of the small plastic alarm clock",
+    "Press the center top button on the dark blue clock with the right arm",
+    "Use the right arm to click the top of the rounded square-shaped alarm clock",
+    "Press the rounded square-shaped alarm clock's top button using the right arm",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Locate and press the white-faced alarm clock's top center button",
+    "Push the top button on the clock with white dial",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Hit the center of the square alarm clock's top button",
+    "Use the right arm to press the white-faced alarm clock's top center button.",
+    "Touch the clock with white dial's center top button with the right arm",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Use the right arm to press the alarm clock with green stripe's top button",
+    "Activate the blue clock with green stripe by pressing the top button",
+    "Use the right arm to tap the square plastic alarm clock's top center button.",
+    "Click the center of the clock with black hands's top",
+    "Click the button centered on the alarm clock with green stripe.",
+    "Press the top button in the dark blue clock's center.",
+    "Tap the blue clock with green stripe's top button with the right arm",
+    "Press the center top button of the palm-sized dark blue clock",
+    "Push the center area of the clock with black hands's top",
+    "Point the right arm to press the button of the square plastic alarm clock.",
+    "Press the center button on the square alarm clock's top.",
+    "Press the top button at the rounded square-shaped alarm clock's center.",
+    "Use the right arm to click the top center button on the palm-sized dark blue clock.",
+    "Tap the center button on the small clock with rounded edges.",
+    "Use the right arm to activate the rounded square-shaped alarm clock's button",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Direct the right arm to click the button found on the blue clock with green stripe.",
+    "Push the button on the square plastic alarm clock's top center.",
+    "the right arm clicks the center top button on the square alarm clock",
+    "Press the button on the alarm clock with green stripe's top side",
+    "Activate the white-faced alarm clock by clicking its top button",
+    "Use the right arm to press the small plastic alarm clock button",
+    "Guide the right arm to press the centered button on the dark blue clock.",
+    "the right arm presses the center top button on the clock with white dial",
+    "Push the top button of the white-faced alarm clock using the right arm",
+    "Click the center button on the palm-sized dark blue clock's top side.",
+    "Use the right arm to press the central button on the clock with white dial.",
+    "Click the middle button on the small clock with rounded edges's top side",
+    "Use the right arm to tap the blue clock with green stripe's central button.",
+    "Activate the clock with white dial by pressing its top",
+    "Use the right arm to press the center top of the small clock with rounded edges",
+    "Use the right arm to tap the palm-sized dark blue clock's top button center",
+    "Click the top center button of the blue clock with green stripe",
+    "the right arm activates the white-faced alarm clock by clicking the top button",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Click the small plastic alarm clock's top center button using the right arm.",
+    "Ensure the right arm clicks the top center button of the rounded square-shaped alarm clock",
+    "Use the right arm to click the center button on the rounded square-shaped alarm clock",
+    "Press the top middle button of the clock with white dial",
+    "Press the center top button on the small clock with rounded edges with the right arm",
+    "Use the right arm to click the top of the blue clock with green stripe",
+    "Press the blue clock with green stripe's top button using the right arm",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Locate and press the square alarm clock's top center button",
+    "Push the top button on the blue clock with green stripe",
+    "Push the central button on the dark blue clock's top side.",
+    "Hit the center of the dark blue clock's top button",
+    "Use the right arm to press the small clock with rounded edges's top center button.",
+    "Touch the clock with black hands's center top button with the right arm",
+    "Click the button centered on the small plastic alarm clock's top.",
+    "Use the right arm to press the small clock with rounded edges's top button",
+    "Activate the alarm clock with green stripe by pressing the top button",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Click the center of the clock with black hands's top",
+    "Click the button centered on the clock with white dial.",
+    "Press the top button in the small plastic alarm clock's center.",
+    "Tap the square alarm clock's top button with the right arm",
+    "Press the center top button of the clock with white dial",
+    "Push the center area of the dark blue clock's top",
+    "Point the right arm to press the button of the clock with white dial.",
+    "Press the center button on the blue clock with green stripe's top.",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "Use the right arm to click the top center button on the small plastic alarm clock.",
+    "Tap the center button on the small plastic alarm clock.",
+    "Use the right arm to activate the clock with black hands's button",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Direct the right arm to click the button found on the small clock with rounded edges.",
+    "Push the button on the square alarm clock's top center.",
+    "the right arm clicks the center top button on the clock with black hands",
+    "Press the button on the dark blue clock's top side",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Use the right arm to press the clock with black hands button",
+    "Guide the right arm to press the centered button on the small clock with rounded edges."
+  ],
+  "unseen": [
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode88.json b/click_alarmclock/demo_diverse/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..599552d0183cada9746bbf12d9c5b0253df37d42
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the alarm-clock with digital display's top button using the right arm",
+    "Use the right arm to press the central button on the alarm-clock with buttons on side.",
+    "Tap the button at the alarm-clock with rounded edges's top center.",
+    "Use the right arm to tap the small alarm-clock's central button.",
+    "Activate the black alarm-clock by pressing the top button",
+    "Use the right arm to tap the black matte alarm-clock's top center button.",
+    "Press the top button at the palm-sized alarm-clock's center.",
+    "Locate and press the top button on the small alarm-clock",
+    "Tap the palm-sized alarm-clock's top button with the right arm",
+    "Activate the alarm-clock with rounded edges by pressing its top",
+    "Push the center area of the black alarm-clock's top",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Click the button centered on the small alarm-clock.",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Click the alarm-clock with rounded edges's top center button using the right arm.",
+    "Use the right arm to press the black matte alarm-clock's top center button.",
+    "the right arm presses the center top button on the alarm-clock with digital display",
+    "Use the right arm to press the palm-sized alarm-clock's top button",
+    "Tap the center button on the smooth black alarm-clock.",
+    "Point the right arm to press the button of the alarm-clock with rounded edges.",
+    "Use the right arm to tap the rectangular alarm-clock's top button center",
+    "Press the center top button on the palm-sized alarm-clock with the right arm",
+    "Touch the alarm-clock with buttons on side's center top button with the right arm",
+    "Press the center button on the alarm-clock with digital display's top.",
+    "Ensure the right arm clicks the top center button of the palm-sized alarm-clock",
+    "Press the button on the rectangular alarm-clock's top side",
+    "Use the right arm to click the center button on the black matte alarm-clock",
+    "Use the right arm to click the top center button on the alarm-clock with buttons on side.",
+    "Push the top button on the black matte alarm-clock",
+    "Direct the right arm to click the button found on the rectangular alarm-clock.",
+    "Guide the right arm to press the centered button on the small alarm-clock.",
+    "Press the top middle button of the alarm-clock with buttons on side",
+    "Click the center button on the palm-sized alarm-clock's top side.",
+    "Use the right arm to press the black matte alarm-clock button",
+    "the right arm activates the digital screen alarm-clock by clicking the top button",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "Use the right arm to click the top of the small alarm-clock",
+    "Press the center top button of the small alarm-clock",
+    "Click the top center button of the digital screen alarm-clock",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "Push the top button of the palm-sized alarm-clock using the right arm",
+    "Press the top button in the black alarm-clock's center.",
+    "Use the right arm to activate the compact alarm-clock's button",
+    "Touch the black alarm-clock's button on the top side.",
+    "the right arm clicks the center top button on the black alarm-clock",
+    "Hit the center of the black alarm-clock's top button",
+    "Click the middle button on the palm-sized alarm-clock's top side",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Use the right arm to press the center top of the alarm-clock with rounded edges",
+    "Click the center of the alarm-clock with digital display's top",
+    "Press the alarm-clock with rounded edges's top button using the right arm",
+    "Use the right arm to press the central button on the alarm-clock with rounded edges.",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Use the right arm to tap the black alarm-clock's central button.",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "Use the right arm to tap the smooth black alarm-clock's top center button.",
+    "Press the top button at the rectangular alarm-clock's center.",
+    "Locate and press the top button on the smooth black alarm-clock",
+    "Tap the palm-sized alarm-clock's top button with the right arm",
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "Push the center area of the small alarm-clock's top",
+    "Click the button centered on the black alarm-clock's top.",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Push the central button on the small alarm-clock's top side.",
+    "Click the black matte alarm-clock's top center button using the right arm.",
+    "Use the right arm to press the alarm-clock with rounded edges's top center button.",
+    "the right arm presses the center top button on the rectangular alarm-clock",
+    "Use the right arm to press the rectangular alarm-clock's top button",
+    "Tap the center button on the black matte alarm-clock.",
+    "Point the right arm to press the button of the digital screen alarm-clock.",
+    "Use the right arm to tap the alarm-clock with digital display's top button center",
+    "Press the center top button on the alarm-clock with digital display with the right arm",
+    "Touch the alarm-clock with rounded edges's center top button with the right arm",
+    "Press the center button on the palm-sized alarm-clock's top.",
+    "Ensure the right arm clicks the top center button of the black alarm-clock",
+    "Press the button on the black matte alarm-clock's top side",
+    "Use the right arm to click the center button on the alarm-clock with digital display",
+    "Use the right arm to click the top center button on the alarm-clock with buttons on side.",
+    "Push the top button on the small alarm-clock",
+    "Direct the right arm to click the button found on the rectangular alarm-clock.",
+    "Guide the right arm to press the centered button on the rectangular alarm-clock.",
+    "Press the top middle button of the rectangular alarm-clock",
+    "Click the center button on the compact alarm-clock's top side.",
+    "Use the right arm to press the smooth black alarm-clock button",
+    "the right arm activates the alarm-clock with digital display by clicking the top button",
+    "Locate and press the compact alarm-clock's top center button",
+    "Use the right arm to click the top of the black alarm-clock",
+    "Press the center top button of the black alarm-clock",
+    "Click the top center button of the rectangular alarm-clock",
+    "Push the button on the digital screen alarm-clock's top center.",
+    "Push the top button of the lightweight plastic alarm-clock using the right arm",
+    "Press the top button in the black matte alarm-clock's center.",
+    "Use the right arm to activate the black alarm-clock's button",
+    "Touch the black matte alarm-clock's button on the top side.",
+    "the right arm clicks the center top button on the small alarm-clock",
+    "Hit the center of the black matte alarm-clock's top button",
+    "Click the middle button on the rectangular alarm-clock's top side",
+    "Activate the smooth black alarm-clock by clicking its top button",
+    "Use the right arm to press the center top of the compact alarm-clock",
+    "Click the center of the alarm-clock with buttons on side's top"
+  ],
+  "unseen": [
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode89.json b/click_alarmclock/demo_diverse/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..62e287687023176b3773ecc14a083886b924d960
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the center of the palm-sized dark blue clock's top",
+    "Use the left arm to tap the small plastic alarm clock's central button.",
+    "Click the top center button of the blue clock with green stripe",
+    "Click the center button on the small plastic alarm clock's top side.",
+    "the left arm presses the center top button on the small plastic alarm clock",
+    "Activate the blue clock with green stripe by pressing the top button",
+    "Activate the blue clock with green stripe by clicking its top button",
+    "Use the left arm to press the white-faced alarm clock's top center button.",
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "Use the left arm to tap the clock with white dial's top center button.",
+    "Press the center top button on the clock with black hands with the left arm",
+    "Hit the center of the rounded square-shaped alarm clock's top button",
+    "Tap the clock with white dial's top button with the left arm",
+    "Press the top middle button of the dark blue clock",
+    "Use the left arm to click the top center button on the white-faced alarm clock.",
+    "Locate and press the top button on the square alarm clock",
+    "Push the central button on the small plastic alarm clock's top side.",
+    "Press the top button at the square alarm clock's center.",
+    "Use the left arm to press the small clock with rounded edges button",
+    "Use the left arm to press the center top of the small plastic alarm clock",
+    "Click the middle button on the rounded square-shaped alarm clock's top side",
+    "Use the left arm to tap the square plastic alarm clock's top button center",
+    "Use the left arm to click the top of the square alarm clock",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Use the left arm to press the dark blue clock's top button",
+    "Click the dark blue clock's top center button using the left arm.",
+    "Click the button centered on the alarm clock with green stripe's top.",
+    "Use the left arm to activate the small clock with rounded edges's button",
+    "Press the button on the square alarm clock's top side",
+    "Click the button centered on the square alarm clock.",
+    "Press the small plastic alarm clock's top button using the left arm",
+    "Ensure the left arm clicks the top center button of the clock with black hands",
+    "Press the top button in the palm-sized dark blue clock's center.",
+    "Push the button on the clock with black hands's top center.",
+    "Push the top button on the small clock with rounded edges",
+    "Direct the left arm to click the button found on the alarm clock with green stripe.",
+    "Use the left arm to click the center button on the clock with black hands",
+    "the left arm clicks the center top button on the square plastic alarm clock",
+    "the left arm activates the white-faced alarm clock by clicking the top button",
+    "Touch the small clock with rounded edges's center top button with the left arm",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Use the left arm to press the central button on the dark blue clock.",
+    "Press the center top button of the small clock with rounded edges",
+    "Point the left arm to press the button of the palm-sized dark blue clock.",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Guide the left arm to press the centered button on the white-faced alarm clock.",
+    "Touch the dark blue clock's button on the top side.",
+    "Tap the center button on the square plastic alarm clock.",
+    "Push the top button of the alarm clock with green stripe using the left arm",
+    "Click the center of the blue clock with green stripe's top",
+    "Use the left arm to tap the blue clock with green stripe's central button.",
+    "Click the top center button of the clock with white dial",
+    "Click the center button on the clock with black hands's top side.",
+    "the left arm presses the center top button on the square plastic alarm clock",
+    "Activate the white-faced alarm clock by pressing the top button",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Use the left arm to press the small clock with rounded edges's top center button.",
+    "Push the center area of the square alarm clock's top",
+    "Use the left arm to tap the white-faced alarm clock's top center button.",
+    "Press the center top button on the dark blue clock with the left arm",
+    "Hit the center of the rounded square-shaped alarm clock's top button",
+    "Tap the clock with black hands's top button with the left arm",
+    "Press the top middle button of the rounded square-shaped alarm clock",
+    "Use the left arm to click the top center button on the clock with black hands.",
+    "Locate and press the top button on the square alarm clock",
+    "Push the central button on the palm-sized dark blue clock's top side.",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Use the left arm to press the rounded square-shaped alarm clock button",
+    "Use the left arm to press the center top of the dark blue clock",
+    "Click the middle button on the square alarm clock's top side",
+    "Use the left arm to tap the square plastic alarm clock's top button center",
+    "Use the left arm to click the top of the rounded square-shaped alarm clock",
+    "Locate and press the dark blue clock's top center button",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Use the left arm to press the small clock with rounded edges's top button",
+    "Click the square alarm clock's top center button using the left arm.",
+    "Click the button centered on the small clock with rounded edges's top.",
+    "Use the left arm to activate the blue clock with green stripe's button",
+    "Press the button on the small plastic alarm clock's top side",
+    "Click the button centered on the blue clock with green stripe.",
+    "Press the blue clock with green stripe's top button using the left arm",
+    "Ensure the left arm clicks the top center button of the white-faced alarm clock",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Push the button on the small clock with rounded edges's top center.",
+    "Push the top button on the square plastic alarm clock",
+    "Direct the left arm to click the button found on the square alarm clock.",
+    "Use the left arm to click the center button on the rounded square-shaped alarm clock",
+    "the left arm clicks the center top button on the alarm clock with green stripe",
+    "the left arm activates the dark blue clock by clicking the top button",
+    "Touch the blue clock with green stripe's center top button with the left arm",
+    "Tap the button at the white-faced alarm clock's top center.",
+    "Use the left arm to press the central button on the clock with black hands.",
+    "Press the center top button of the clock with white dial",
+    "Point the left arm to press the button of the dark blue clock.",
+    "Activate the small clock with rounded edges by pressing its top",
+    "Guide the left arm to press the centered button on the white-faced alarm clock.",
+    "Touch the square alarm clock's button on the top side.",
+    "Tap the center button on the dark blue clock.",
+    "Push the top button of the clock with black hands using the left arm"
+  ],
+  "unseen": [
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode9.json b/click_alarmclock/demo_diverse/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb87ead50fbbd50ef4ab560be0aac0249d68e59d
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the white-faced alarm clock by pressing the top button",
+    "Activate the rounded square-shaped alarm clock by clicking its top button",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Point the right arm to press the button of the square plastic alarm clock.",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Use the right arm to activate the square alarm clock's button",
+    "Push the center area of the clock with black hands's top",
+    "Press the button on the dark blue clock's top side",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Use the right arm to tap the palm-sized dark blue clock's central button.",
+    "the right arm activates the small plastic alarm clock by clicking the top button",
+    "Use the right arm to press the square alarm clock's top center button.",
+    "Touch the white-faced alarm clock's center top button with the right arm",
+    "Locate and press the top button on the blue clock with green stripe",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Activate the clock with black hands by pressing its top",
+    "Use the right arm to press the central button on the square plastic alarm clock.",
+    "Click the dark blue clock's top center button using the right arm.",
+    "Tap the center button on the small plastic alarm clock.",
+    "Use the right arm to click the top of the blue clock with green stripe",
+    "the right arm clicks the center top button on the palm-sized dark blue clock",
+    "Tap the dark blue clock's top button with the right arm",
+    "Press the top button at the small plastic alarm clock's center.",
+    "Touch the white-faced alarm clock's button on the top side.",
+    "Push the top button on the square plastic alarm clock",
+    "Press the center top button on the square plastic alarm clock with the right arm",
+    "Press the center top button of the rounded square-shaped alarm clock",
+    "Push the central button on the alarm clock with green stripe's top side.",
+    "Use the right arm to click the center button on the rounded square-shaped alarm clock",
+    "Hit the center of the clock with black hands's top button",
+    "Ensure the right arm clicks the top center button of the palm-sized dark blue clock",
+    "Use the right arm to tap the white-faced alarm clock's top button center",
+    "Push the top button of the small clock with rounded edges using the right arm",
+    "Click the center button on the rounded square-shaped alarm clock's top side.",
+    "Use the right arm to press the center top of the small clock with rounded edges",
+    "Use the right arm to press the blue clock with green stripe's top button",
+    "Click the button centered on the white-faced alarm clock's top.",
+    "Tap the button at the white-faced alarm clock's top center.",
+    "Press the top middle button of the small clock with rounded edges",
+    "Click the center of the clock with black hands's top",
+    "Guide the right arm to press the centered button on the dark blue clock.",
+    "Use the right arm to click the top center button on the clock with white dial.",
+    "Click the middle button on the white-faced alarm clock's top side",
+    "the right arm presses the center top button on the clock with white dial",
+    "Use the right arm to tap the dark blue clock's top center button.",
+    "Press the square plastic alarm clock's top button using the right arm",
+    "Use the right arm to press the clock with white dial button",
+    "Click the top center button of the square alarm clock",
+    "Direct the right arm to click the button found on the palm-sized dark blue clock.",
+    "Click the button centered on the clock with black hands.",
+    "Activate the small clock with rounded edges by pressing the top button",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Point the right arm to press the button of the clock with black hands.",
+    "Locate and press the square alarm clock's top center button",
+    "Use the right arm to activate the small plastic alarm clock's button",
+    "Push the center area of the square plastic alarm clock's top",
+    "Press the button on the blue clock with green stripe's top side",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Use the right arm to tap the white-faced alarm clock's central button.",
+    "the right arm activates the small clock with rounded edges by clicking the top button",
+    "Use the right arm to press the small clock with rounded edges's top center button.",
+    "Touch the palm-sized dark blue clock's center top button with the right arm",
+    "Locate and press the top button on the square alarm clock",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Activate the alarm clock with green stripe by pressing its top",
+    "Use the right arm to press the central button on the clock with black hands.",
+    "Click the rounded square-shaped alarm clock's top center button using the right arm.",
+    "Tap the center button on the square alarm clock.",
+    "Use the right arm to click the top of the clock with white dial",
+    "the right arm clicks the center top button on the small clock with rounded edges",
+    "Tap the small clock with rounded edges's top button with the right arm",
+    "Press the top button at the square alarm clock's center.",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Push the top button on the alarm clock with green stripe",
+    "Press the center top button on the white-faced alarm clock with the right arm",
+    "Press the center top button of the white-faced alarm clock",
+    "Push the central button on the square alarm clock's top side.",
+    "Use the right arm to click the center button on the white-faced alarm clock",
+    "Hit the center of the clock with white dial's top button",
+    "Ensure the right arm clicks the top center button of the blue clock with green stripe",
+    "Use the right arm to tap the palm-sized dark blue clock's top button center",
+    "Push the top button of the square plastic alarm clock using the right arm",
+    "Click the center button on the small clock with rounded edges's top side.",
+    "Use the right arm to press the center top of the rounded square-shaped alarm clock",
+    "Use the right arm to press the small plastic alarm clock's top button",
+    "Click the button centered on the square alarm clock's top.",
+    "Tap the button at the square plastic alarm clock's top center.",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Click the center of the alarm clock with green stripe's top",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "Use the right arm to click the top center button on the square plastic alarm clock.",
+    "Click the middle button on the dark blue clock's top side",
+    "the right arm presses the center top button on the clock with black hands",
+    "Use the right arm to tap the palm-sized dark blue clock's top center button.",
+    "Press the blue clock with green stripe's top button using the right arm",
+    "Use the right arm to press the alarm clock with green stripe button",
+    "Click the top center button of the small clock with rounded edges",
+    "Direct the right arm to click the button found on the small plastic alarm clock.",
+    "Click the button centered on the small plastic alarm clock."
+  ],
+  "unseen": [
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode90.json b/click_alarmclock/demo_diverse/instructions/episode90.json
new file mode 100644
index 0000000000000000000000000000000000000000..21b05ba64ed53adefb90613d966520dee11027b7
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode90.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the top button on the smooth black alarm-clock",
+    "Press the center button on the alarm-clock with rounded edges's top.",
+    "Point the left arm to press the button of the palm-sized alarm-clock.",
+    "Activate the alarm-clock with rounded edges by pressing its top",
+    "Guide the left arm to press the centered button on the alarm-clock with rounded edges.",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "Press the top button at the lightweight plastic alarm-clock's center.",
+    "Use the left arm to press the lightweight plastic alarm-clock's top button",
+    "Use the left arm to press the alarm-clock with rounded edges button",
+    "Press the top middle button of the alarm-clock with buttons on side",
+    "the left arm activates the small alarm-clock by clicking the top button",
+    "Use the left arm to activate the black alarm-clock's button",
+    "Press the top button in the black alarm-clock's center.",
+    "Press the button on the alarm-clock with digital display's top side",
+    "Press the alarm-clock with buttons on side's top button using the left arm",
+    "Direct the left arm to click the button found on the black matte alarm-clock.",
+    "Press the center top button of the rectangular alarm-clock",
+    "Locate and press the alarm-clock with buttons on side's top center button",
+    "Tap the black alarm-clock's top button with the left arm",
+    "Ensure the left arm clicks the top center button of the rectangular alarm-clock",
+    "Push the top button on the rectangular alarm-clock",
+    "Click the button centered on the small alarm-clock.",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Touch the alarm-clock with buttons on side's center top button with the left arm",
+    "Use the left arm to tap the black alarm-clock's top button center",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "Push the top button of the palm-sized alarm-clock using the left arm",
+    "Use the left arm to click the top center button on the alarm-clock with digital display.",
+    "Click the rectangular alarm-clock's top center button using the left arm.",
+    "Click the center of the rectangular alarm-clock's top",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Use the left arm to press the digital screen alarm-clock's top center button.",
+    "Use the left arm to tap the smooth black alarm-clock's central button.",
+    "Use the left arm to press the center top of the small alarm-clock",
+    "Click the button centered on the alarm-clock with buttons on side's top.",
+    "the left arm clicks the center top button on the alarm-clock with rounded edges",
+    "Use the left arm to tap the rectangular alarm-clock's top center button.",
+    "Use the left arm to click the center button on the lightweight plastic alarm-clock",
+    "Use the left arm to press the central button on the alarm-clock with buttons on side.",
+    "Hit the center of the black alarm-clock's top button",
+    "Press the center top button on the small alarm-clock with the left arm",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "Use the left arm to click the top of the black alarm-clock",
+    "Activate the black alarm-clock by pressing the top button",
+    "the left arm presses the center top button on the alarm-clock with digital display",
+    "Activate the small alarm-clock by clicking its top button",
+    "Tap the center button on the black matte alarm-clock.",
+    "Click the top center button of the black alarm-clock",
+    "Locate and press the top button on the black matte alarm-clock",
+    "Press the center button on the smooth black alarm-clock's top.",
+    "Point the left arm to press the button of the smooth black alarm-clock.",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Guide the left arm to press the centered button on the lightweight plastic alarm-clock.",
+    "Touch the black alarm-clock's button on the top side.",
+    "Press the top button at the black alarm-clock's center.",
+    "Use the left arm to press the small alarm-clock's top button",
+    "Use the left arm to press the small alarm-clock button",
+    "Press the top middle button of the smooth black alarm-clock",
+    "the left arm activates the compact alarm-clock by clicking the top button",
+    "Use the left arm to activate the small alarm-clock's button",
+    "Press the top button in the small alarm-clock's center.",
+    "Press the button on the alarm-clock with digital display's top side",
+    "Press the lightweight plastic alarm-clock's top button using the left arm",
+    "Direct the left arm to click the button found on the black matte alarm-clock.",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Tap the palm-sized alarm-clock's top button with the left arm",
+    "Ensure the left arm clicks the top center button of the digital screen alarm-clock",
+    "Push the top button on the digital screen alarm-clock",
+    "Click the button centered on the compact alarm-clock.",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Touch the rectangular alarm-clock's center top button with the left arm",
+    "Use the left arm to tap the alarm-clock with rounded edges's top button center",
+    "Push the central button on the black alarm-clock's top side.",
+    "Push the center area of the compact alarm-clock's top",
+    "Push the top button of the black matte alarm-clock using the left arm",
+    "Use the left arm to click the top center button on the black matte alarm-clock.",
+    "Click the compact alarm-clock's top center button using the left arm.",
+    "Click the center of the black matte alarm-clock's top",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Use the left arm to press the alarm-clock with rounded edges's top center button.",
+    "Use the left arm to tap the compact alarm-clock's central button.",
+    "Use the left arm to press the center top of the black alarm-clock",
+    "Click the button centered on the alarm-clock with buttons on side's top.",
+    "the left arm clicks the center top button on the alarm-clock with rounded edges",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Use the left arm to click the center button on the small alarm-clock",
+    "Use the left arm to press the central button on the black alarm-clock.",
+    "Hit the center of the rectangular alarm-clock's top button",
+    "Press the center top button on the black alarm-clock with the left arm",
+    "Push the button on the black matte alarm-clock's top center.",
+    "Click the center button on the compact alarm-clock's top side.",
+    "Use the left arm to click the top of the lightweight plastic alarm-clock",
+    "Activate the digital screen alarm-clock by pressing the top button",
+    "the left arm presses the center top button on the digital screen alarm-clock",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Click the top center button of the lightweight plastic alarm-clock"
+  ],
+  "unseen": [
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode91.json b/click_alarmclock/demo_diverse/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..c538bde6df44e4eef1f36696722e0f93bcfd475e
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Guide the right arm to press the centered button on the small alarm-clock.",
+    "Click the button centered on the black matte alarm-clock's top.",
+    "Click the button centered on the alarm-clock with rounded edges.",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Press the center button on the digital screen alarm-clock's top.",
+    "Point the right arm to press the button of the black alarm-clock.",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "Ensure the right arm clicks the top center button of the alarm-clock with rounded edges",
+    "Click the middle button on the lightweight plastic alarm-clock's top side",
+    "Click the center button on the small alarm-clock's top side.",
+    "Click the top center button of the black matte alarm-clock",
+    "Use the right arm to click the top of the digital screen alarm-clock",
+    "Touch the alarm-clock with digital display's center top button with the right arm",
+    "Press the center top button on the smooth black alarm-clock with the right arm",
+    "Push the top button on the black matte alarm-clock",
+    "Use the right arm to press the rectangular alarm-clock's top center button.",
+    "Use the right arm to tap the black alarm-clock's top center button.",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Use the right arm to press the center top of the alarm-clock with digital display",
+    "Push the top button of the smooth black alarm-clock using the right arm",
+    "Use the right arm to tap the digital screen alarm-clock's top button center",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Direct the right arm to click the button found on the smooth black alarm-clock.",
+    "Use the right arm to activate the alarm-clock with rounded edges's button",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Click the alarm-clock with rounded edges's top center button using the right arm.",
+    "the right arm activates the digital screen alarm-clock by clicking the top button",
+    "Tap the digital screen alarm-clock's top button with the right arm",
+    "Press the center top button of the small alarm-clock",
+    "Locate and press the top button on the palm-sized alarm-clock",
+    "Use the right arm to tap the compact alarm-clock's central button.",
+    "Use the right arm to press the smooth black alarm-clock's top button",
+    "the right arm presses the center top button on the alarm-clock with digital display",
+    "Use the right arm to press the central button on the alarm-clock with rounded edges.",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Press the black alarm-clock's top button using the right arm",
+    "Push the center area of the small alarm-clock's top",
+    "Hit the center of the alarm-clock with buttons on side's top button",
+    "Use the right arm to click the top center button on the alarm-clock with digital display.",
+    "Activate the compact alarm-clock by pressing its top",
+    "Tap the button at the black alarm-clock's top center.",
+    "Press the top button at the rectangular alarm-clock's center.",
+    "Use the right arm to press the black matte alarm-clock button",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Click the center of the palm-sized alarm-clock's top",
+    "Press the button on the black alarm-clock's top side",
+    "the right arm clicks the center top button on the alarm-clock with digital display",
+    "Use the right arm to click the center button on the black alarm-clock",
+    "Guide the right arm to press the centered button on the digital screen alarm-clock.",
+    "Click the button centered on the alarm-clock with buttons on side's top.",
+    "Click the button centered on the black alarm-clock.",
+    "Locate and press the smooth black alarm-clock's top center button",
+    "Press the center button on the alarm-clock with digital display's top.",
+    "Point the right arm to press the button of the alarm-clock with digital display.",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Ensure the right arm clicks the top center button of the lightweight plastic alarm-clock",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Click the center button on the small alarm-clock's top side.",
+    "Click the top center button of the alarm-clock with rounded edges",
+    "Use the right arm to click the top of the smooth black alarm-clock",
+    "Touch the small alarm-clock's center top button with the right arm",
+    "Press the center top button on the alarm-clock with buttons on side with the right arm",
+    "Push the top button on the digital screen alarm-clock",
+    "Use the right arm to press the black alarm-clock's top center button.",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Push the button on the alarm-clock with digital display's top center.",
+    "Use the right arm to press the center top of the palm-sized alarm-clock",
+    "Push the top button of the small alarm-clock using the right arm",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top button center",
+    "Touch the alarm-clock with buttons on side's button on the top side.",
+    "Direct the right arm to click the button found on the small alarm-clock.",
+    "Use the right arm to activate the alarm-clock with buttons on side's button",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Activate the alarm-clock with digital display by clicking its top button",
+    "Press the top button in the small alarm-clock's center.",
+    "Click the alarm-clock with rounded edges's top center button using the right arm.",
+    "the right arm activates the smooth black alarm-clock by clicking the top button",
+    "Tap the lightweight plastic alarm-clock's top button with the right arm",
+    "Press the center top button of the palm-sized alarm-clock",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Use the right arm to tap the lightweight plastic alarm-clock's central button.",
+    "Use the right arm to press the smooth black alarm-clock's top button",
+    "the right arm presses the center top button on the smooth black alarm-clock",
+    "Use the right arm to press the central button on the alarm-clock with rounded edges.",
+    "Push the central button on the lightweight plastic alarm-clock's top side.",
+    "Press the alarm-clock with rounded edges's top button using the right arm",
+    "Push the center area of the alarm-clock with buttons on side's top",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Use the right arm to click the top center button on the alarm-clock with rounded edges.",
+    "Activate the black matte alarm-clock by pressing its top",
+    "Tap the button at the small alarm-clock's top center.",
+    "Press the top button at the rectangular alarm-clock's center.",
+    "Use the right arm to press the rectangular alarm-clock button",
+    "Tap the center button on the alarm-clock with buttons on side.",
+    "Click the center of the black alarm-clock's top",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "the right arm clicks the center top button on the digital screen alarm-clock",
+    "Use the right arm to click the center button on the lightweight plastic alarm-clock"
+  ],
+  "unseen": [
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode92.json b/click_alarmclock/demo_diverse/instructions/episode92.json
new file mode 100644
index 0000000000000000000000000000000000000000..103475fef7d3aab6af766ba5fd9b3bcd4c98ffab
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode92.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the center button on the white-faced alarm clock.",
+    "Use the left arm to press the central button on the white-faced alarm clock.",
+    "Click the dark blue clock's top center button using the left arm.",
+    "Use the left arm to click the top of the clock with white dial",
+    "Click the center of the palm-sized dark blue clock's top",
+    "Press the button on the white-faced alarm clock's top side",
+    "Touch the dark blue clock's button on the top side.",
+    "Touch the alarm clock with green stripe's center top button with the left arm",
+    "Press the center button on the square plastic alarm clock's top.",
+    "the left arm clicks the center top button on the small plastic alarm clock",
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Use the left arm to press the white-faced alarm clock's top center button.",
+    "Push the button on the blue clock with green stripe's top center.",
+    "Use the left arm to press the clock with black hands's top button",
+    "Ensure the left arm clicks the top center button of the palm-sized dark blue clock",
+    "Push the top button of the white-faced alarm clock using the left arm",
+    "Push the central button on the clock with white dial's top side.",
+    "Use the left arm to press the center top of the rounded square-shaped alarm clock",
+    "Click the button centered on the dark blue clock's top.",
+    "Press the center top button of the small clock with rounded edges",
+    "Use the left arm to click the center button on the small plastic alarm clock",
+    "Guide the left arm to press the centered button on the blue clock with green stripe.",
+    "Use the left arm to click the top center button on the small plastic alarm clock.",
+    "Activate the blue clock with green stripe by pressing its top",
+    "the left arm activates the clock with black hands by clicking the top button",
+    "Push the top button on the palm-sized dark blue clock",
+    "Point the left arm to press the button of the clock with black hands.",
+    "Tap the small plastic alarm clock's top button with the left arm",
+    "Press the top button in the dark blue clock's center.",
+    "Click the center button on the square alarm clock's top side.",
+    "Use the left arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Click the middle button on the clock with white dial's top side",
+    "Click the button centered on the clock with black hands.",
+    "Activate the clock with white dial by clicking its top button",
+    "Press the small plastic alarm clock's top button using the left arm",
+    "Press the center top button on the clock with white dial with the left arm",
+    "Direct the left arm to click the button found on the square alarm clock.",
+    "Tap the button at the square alarm clock's top center.",
+    "Use the left arm to tap the rounded square-shaped alarm clock's top button center",
+    "Press the top button at the blue clock with green stripe's center.",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Locate and press the top button on the dark blue clock",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "the left arm presses the center top button on the rounded square-shaped alarm clock",
+    "Click the top center button of the rounded square-shaped alarm clock",
+    "Use the left arm to tap the square alarm clock's central button.",
+    "Use the left arm to press the small clock with rounded edges button",
+    "Use the left arm to activate the small clock with rounded edges's button",
+    "Activate the rounded square-shaped alarm clock by pressing the top button",
+    "Tap the center button on the square alarm clock.",
+    "Use the left arm to press the central button on the blue clock with green stripe.",
+    "Click the square alarm clock's top center button using the left arm.",
+    "Use the left arm to click the top of the clock with black hands",
+    "Click the center of the alarm clock with green stripe's top",
+    "Press the button on the clock with white dial's top side",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Touch the alarm clock with green stripe's center top button with the left arm",
+    "Press the center button on the square plastic alarm clock's top.",
+    "the left arm clicks the center top button on the small plastic alarm clock",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "Press the top middle button of the white-faced alarm clock",
+    "Use the left arm to press the square alarm clock's top center button.",
+    "Push the button on the small plastic alarm clock's top center.",
+    "Use the left arm to press the clock with white dial's top button",
+    "Ensure the left arm clicks the top center button of the square alarm clock",
+    "Push the top button of the white-faced alarm clock using the left arm",
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Use the left arm to press the center top of the palm-sized dark blue clock",
+    "Click the button centered on the square plastic alarm clock's top.",
+    "Press the center top button of the rounded square-shaped alarm clock",
+    "Use the left arm to click the center button on the small clock with rounded edges",
+    "Guide the left arm to press the centered button on the white-faced alarm clock.",
+    "Use the left arm to click the top center button on the small clock with rounded edges.",
+    "Activate the square plastic alarm clock by pressing its top",
+    "the left arm activates the palm-sized dark blue clock by clicking the top button",
+    "Push the top button on the clock with black hands",
+    "Point the left arm to press the button of the clock with white dial.",
+    "Tap the clock with white dial's top button with the left arm",
+    "Press the top button in the alarm clock with green stripe's center.",
+    "Click the center button on the rounded square-shaped alarm clock's top side.",
+    "Use the left arm to tap the palm-sized dark blue clock's top center button.",
+    "Click the middle button on the small plastic alarm clock's top side",
+    "Click the button centered on the clock with white dial.",
+    "Activate the small clock with rounded edges by clicking its top button",
+    "Press the square alarm clock's top button using the left arm",
+    "Press the center top button on the square plastic alarm clock with the left arm",
+    "Direct the left arm to click the button found on the blue clock with green stripe.",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Use the left arm to tap the small plastic alarm clock's top button center",
+    "Press the top button at the square plastic alarm clock's center.",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Locate and press the top button on the small clock with rounded edges",
+    "Locate and press the square alarm clock's top center button",
+    "the left arm presses the center top button on the square alarm clock",
+    "Click the top center button of the blue clock with green stripe",
+    "Use the left arm to tap the rounded square-shaped alarm clock's central button.",
+    "Use the left arm to press the clock with white dial button",
+    "Use the left arm to activate the square alarm clock's button",
+    "Activate the dark blue clock by pressing the top button"
+  ],
+  "unseen": [
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the center top button of the compact alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode93.json b/click_alarmclock/demo_diverse/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f1bf435bfe5907f1b94da593a4d967609d3b65e
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the blue clock with green stripe by clicking its top button",
+    "Use the right arm to press the center top of the small clock with rounded edges",
+    "Push the button on the small plastic alarm clock's top center.",
+    "Ensure the right arm clicks the top center button of the alarm clock with green stripe",
+    "Click the palm-sized dark blue clock's top center button using the right arm.",
+    "Point the right arm to press the button of the small plastic alarm clock.",
+    "the right arm activates the square plastic alarm clock by clicking the top button",
+    "Use the right arm to tap the clock with white dial's top button center",
+    "Touch the small plastic alarm clock's center top button with the right arm",
+    "Hit the center of the square plastic alarm clock's top button",
+    "Press the button on the rounded square-shaped alarm clock's top side",
+    "Activate the clock with white dial by pressing the top button",
+    "Push the center area of the square alarm clock's top",
+    "Tap the square plastic alarm clock's top button with the right arm",
+    "Use the right arm to tap the small clock with rounded edges's central button.",
+    "Press the center top button on the palm-sized dark blue clock with the right arm",
+    "Tap the button at the white-faced alarm clock's top center.",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "Touch the small plastic alarm clock's button on the top side.",
+    "Click the top center button of the clock with black hands",
+    "Use the right arm to press the dark blue clock's top center button.",
+    "Push the top button of the alarm clock with green stripe using the right arm",
+    "Use the right arm to press the central button on the square alarm clock.",
+    "Use the right arm to activate the dark blue clock's button",
+    "Press the top button at the dark blue clock's center.",
+    "Direct the right arm to click the button found on the clock with white dial.",
+    "Locate and press the blue clock with green stripe's top center button",
+    "Click the center of the clock with white dial's top",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Guide the right arm to press the centered button on the white-faced alarm clock.",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Push the top button on the clock with white dial",
+    "Use the right arm to click the center button on the small clock with rounded edges",
+    "Use the right arm to click the top center button on the rounded square-shaped alarm clock.",
+    "Push the central button on the white-faced alarm clock's top side.",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Click the button centered on the small plastic alarm clock.",
+    "Press the top button in the square alarm clock's center.",
+    "Press the center top button of the alarm clock with green stripe",
+    "Activate the square plastic alarm clock by pressing its top",
+    "Press the center button on the small clock with rounded edges's top.",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Tap the center button on the palm-sized dark blue clock.",
+    "Click the middle button on the clock with black hands's top side",
+    "Use the right arm to press the blue clock with green stripe's top button",
+    "Press the top middle button of the clock with white dial",
+    "Press the small clock with rounded edges's top button using the right arm",
+    "the right arm presses the center top button on the square alarm clock",
+    "Use the right arm to press the small clock with rounded edges button",
+    "Use the right arm to click the top of the rounded square-shaped alarm clock",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "Use the right arm to press the center top of the white-faced alarm clock",
+    "Push the button on the small clock with rounded edges's top center.",
+    "Ensure the right arm clicks the top center button of the alarm clock with green stripe",
+    "Click the white-faced alarm clock's top center button using the right arm.",
+    "Point the right arm to press the button of the small clock with rounded edges.",
+    "the right arm activates the clock with white dial by clicking the top button",
+    "Use the right arm to tap the blue clock with green stripe's top button center",
+    "Touch the square plastic alarm clock's center top button with the right arm",
+    "Hit the center of the square alarm clock's top button",
+    "Press the button on the clock with black hands's top side",
+    "Activate the blue clock with green stripe by pressing the top button",
+    "Push the center area of the blue clock with green stripe's top",
+    "Tap the alarm clock with green stripe's top button with the right arm",
+    "Use the right arm to tap the small plastic alarm clock's central button.",
+    "Press the center top button on the square alarm clock with the right arm",
+    "Tap the button at the clock with black hands's top center.",
+    "Click the center button on the dark blue clock's top side.",
+    "Touch the palm-sized dark blue clock's button on the top side.",
+    "Click the top center button of the small clock with rounded edges",
+    "Use the right arm to press the small clock with rounded edges's top center button.",
+    "Push the top button of the small plastic alarm clock using the right arm",
+    "Use the right arm to press the central button on the white-faced alarm clock.",
+    "Use the right arm to activate the palm-sized dark blue clock's button",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Direct the right arm to click the button found on the small clock with rounded edges.",
+    "Locate and press the palm-sized dark blue clock's top center button",
+    "Click the center of the white-faced alarm clock's top",
+    "the right arm clicks the center top button on the palm-sized dark blue clock",
+    "Guide the right arm to press the centered button on the clock with white dial.",
+    "Click the button centered on the dark blue clock's top.",
+    "Push the top button on the palm-sized dark blue clock",
+    "Use the right arm to click the center button on the square plastic alarm clock",
+    "Use the right arm to click the top center button on the palm-sized dark blue clock.",
+    "Push the central button on the clock with white dial's top side.",
+    "Use the right arm to tap the small clock with rounded edges's top center button.",
+    "Click the button centered on the small clock with rounded edges.",
+    "Press the top button in the dark blue clock's center.",
+    "Press the center top button of the square plastic alarm clock",
+    "Activate the small clock with rounded edges by pressing its top",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Locate and press the top button on the small plastic alarm clock",
+    "Tap the center button on the small plastic alarm clock.",
+    "Click the middle button on the palm-sized dark blue clock's top side",
+    "Use the right arm to press the alarm clock with green stripe's top button",
+    "Press the top middle button of the small plastic alarm clock",
+    "Press the small clock with rounded edges's top button using the right arm",
+    "the right arm presses the center top button on the dark blue clock",
+    "Use the right arm to press the rounded square-shaped alarm clock button",
+    "Use the right arm to click the top of the palm-sized dark blue clock"
+  ],
+  "unseen": [
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode94.json b/click_alarmclock/demo_diverse/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..f37572f17065d5d85daea6abc8f17736a139eec6
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Touch the compact alarm-clock's button on the top side.",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Touch the black alarm-clock's center top button with the left arm",
+    "Click the button centered on the small alarm-clock.",
+    "Click the top center button of the compact alarm-clock",
+    "Tap the button at the black matte alarm-clock's top center.",
+    "Push the top button on the black matte alarm-clock",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Press the center button on the black alarm-clock's top.",
+    "the left arm presses the center top button on the black alarm-clock",
+    "Use the left arm to click the center button on the compact alarm-clock",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Use the left arm to press the alarm-clock with rounded edges's top center button.",
+    "Use the left arm to activate the alarm-clock with buttons on side's button",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Use the left arm to press the digital screen alarm-clock button",
+    "Click the alarm-clock with digital display's top center button using the left arm.",
+    "Activate the alarm-clock with buttons on side by pressing the top button",
+    "Use the left arm to tap the compact alarm-clock's top center button.",
+    "Use the left arm to click the top of the digital screen alarm-clock",
+    "Hit the center of the alarm-clock with digital display's top button",
+    "Point the left arm to press the button of the alarm-clock with buttons on side.",
+    "Push the top button of the black alarm-clock using the left arm",
+    "the left arm activates the smooth black alarm-clock by clicking the top button",
+    "Push the button on the small alarm-clock's top center.",
+    "the left arm clicks the center top button on the alarm-clock with digital display",
+    "Locate and press the top button on the compact alarm-clock",
+    "Activate the rectangular alarm-clock by pressing its top",
+    "Tap the black alarm-clock's top button with the left arm",
+    "Use the left arm to click the top center button on the rectangular alarm-clock.",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Use the left arm to press the center top of the palm-sized alarm-clock",
+    "Use the left arm to tap the smooth black alarm-clock's top button center",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Use the left arm to tap the compact alarm-clock's central button.",
+    "Use the left arm to press the central button on the compact alarm-clock.",
+    "Press the small alarm-clock's top button using the left arm",
+    "Ensure the left arm clicks the top center button of the smooth black alarm-clock",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Use the left arm to press the palm-sized alarm-clock's top button",
+    "Locate and press the lightweight plastic alarm-clock's top center button",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Activate the palm-sized alarm-clock by clicking its top button",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Direct the left arm to click the button found on the alarm-clock with digital display.",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Press the center top button on the alarm-clock with rounded edges with the left arm",
+    "Guide the left arm to press the centered button on the alarm-clock with rounded edges.",
+    "Touch the black alarm-clock's button on the top side.",
+    "Press the top middle button of the black matte alarm-clock",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Touch the palm-sized alarm-clock's center top button with the left arm",
+    "Click the button centered on the black alarm-clock.",
+    "Click the top center button of the alarm-clock with rounded edges",
+    "Tap the button at the digital screen alarm-clock's top center.",
+    "Push the top button on the lightweight plastic alarm-clock",
+    "Tap the center button on the rectangular alarm-clock.",
+    "Press the center button on the alarm-clock with digital display's top.",
+    "the left arm presses the center top button on the small alarm-clock",
+    "Use the left arm to click the center button on the black alarm-clock",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "Use the left arm to press the lightweight plastic alarm-clock's top center button.",
+    "Use the left arm to activate the small alarm-clock's button",
+    "Click the center of the black alarm-clock's top",
+    "Use the left arm to press the compact alarm-clock button",
+    "Click the black alarm-clock's top center button using the left arm.",
+    "Activate the rectangular alarm-clock by pressing the top button",
+    "Use the left arm to tap the alarm-clock with buttons on side's top center button.",
+    "Use the left arm to click the top of the palm-sized alarm-clock",
+    "Hit the center of the compact alarm-clock's top button",
+    "Point the left arm to press the button of the rectangular alarm-clock.",
+    "Push the top button of the small alarm-clock using the left arm",
+    "the left arm activates the small alarm-clock by clicking the top button",
+    "Push the button on the alarm-clock with digital display's top center.",
+    "the left arm clicks the center top button on the compact alarm-clock",
+    "Locate and press the top button on the alarm-clock with digital display",
+    "Activate the alarm-clock with rounded edges by pressing its top",
+    "Tap the alarm-clock with buttons on side's top button with the left arm",
+    "Use the left arm to click the top center button on the compact alarm-clock.",
+    "Click the middle button on the digital screen alarm-clock's top side",
+    "Use the left arm to press the center top of the alarm-clock with buttons on side",
+    "Use the left arm to tap the black alarm-clock's top button center",
+    "Click the button centered on the black matte alarm-clock's top.",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Use the left arm to tap the black matte alarm-clock's central button.",
+    "Use the left arm to press the central button on the palm-sized alarm-clock.",
+    "Press the compact alarm-clock's top button using the left arm",
+    "Ensure the left arm clicks the top center button of the smooth black alarm-clock",
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Use the left arm to press the alarm-clock with digital display's top button",
+    "Locate and press the alarm-clock with buttons on side's top center button",
+    "Click the center button on the palm-sized alarm-clock's top side.",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Direct the left arm to click the button found on the alarm-clock with rounded edges.",
+    "Press the center top button of the alarm-clock with digital display",
+    "Press the center top button on the rectangular alarm-clock with the left arm",
+    "Guide the left arm to press the centered button on the black alarm-clock."
+  ],
+  "unseen": [
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode95.json b/click_alarmclock/demo_diverse/instructions/episode95.json
new file mode 100644
index 0000000000000000000000000000000000000000..85cdcaedc6ec7ae570fb604478d6289beebab1b3
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode95.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to click the top center button on the rounded square-shaped alarm clock.",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Use the right arm to tap the alarm clock with green stripe's top center button.",
+    "Press the center top button on the palm-sized dark blue clock with the right arm",
+    "Use the right arm to click the center button on the small clock with rounded edges",
+    "Click the top center button of the small clock with rounded edges",
+    "Activate the square plastic alarm clock by clicking its top button",
+    "Press the center button on the small clock with rounded edges's top.",
+    "Press the top button in the small clock with rounded edges's center.",
+    "the right arm clicks the center top button on the alarm clock with green stripe",
+    "Click the center of the rounded square-shaped alarm clock's top",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "Tap the dark blue clock's top button with the right arm",
+    "Point the right arm to press the button of the blue clock with green stripe.",
+    "the right arm activates the white-faced alarm clock by clicking the top button",
+    "Push the center area of the small clock with rounded edges's top",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Press the button on the white-faced alarm clock's top side",
+    "Tap the center button on the clock with black hands.",
+    "Press the square alarm clock's top button using the right arm",
+    "Click the middle button on the clock with white dial's top side",
+    "Use the right arm to press the clock with white dial's top button",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "Ensure the right arm clicks the top center button of the dark blue clock",
+    "Push the top button on the square alarm clock",
+    "Touch the small clock with rounded edges's center top button with the right arm",
+    "Use the right arm to press the central button on the square alarm clock.",
+    "Locate and press the dark blue clock's top center button",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "Use the right arm to activate the white-faced alarm clock's button",
+    "Click the alarm clock with green stripe's top center button using the right arm.",
+    "Click the button centered on the blue clock with green stripe.",
+    "Push the central button on the palm-sized dark blue clock's top side.",
+    "Push the button on the small plastic alarm clock's top center.",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Push the top button of the small clock with rounded edges using the right arm",
+    "Use the right arm to click the top of the alarm clock with green stripe",
+    "Touch the dark blue clock's button on the top side.",
+    "Locate and press the top button on the square plastic alarm clock",
+    "Direct the right arm to click the button found on the square plastic alarm clock.",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top button center",
+    "Use the right arm to press the small clock with rounded edges button",
+    "Press the center top button of the clock with black hands",
+    "Use the right arm to tap the square alarm clock's central button.",
+    "Use the right arm to press the center top of the rounded square-shaped alarm clock",
+    "Press the top middle button of the small plastic alarm clock",
+    "Click the center button on the clock with white dial's top side.",
+    "the right arm presses the center top button on the alarm clock with green stripe",
+    "Use the right arm to press the square plastic alarm clock's top center button.",
+    "Press the top button at the square plastic alarm clock's center.",
+    "Use the right arm to click the top center button on the square alarm clock.",
+    "Click the button centered on the clock with black hands's top.",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Press the center top button on the rounded square-shaped alarm clock with the right arm",
+    "Use the right arm to click the center button on the white-faced alarm clock",
+    "Click the top center button of the palm-sized dark blue clock",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "Press the center button on the blue clock with green stripe's top.",
+    "Press the top button in the clock with white dial's center.",
+    "the right arm clicks the center top button on the small clock with rounded edges",
+    "Click the center of the square alarm clock's top",
+    "Guide the right arm to press the centered button on the white-faced alarm clock.",
+    "Tap the small clock with rounded edges's top button with the right arm",
+    "Point the right arm to press the button of the alarm clock with green stripe.",
+    "the right arm activates the square alarm clock by clicking the top button",
+    "Push the center area of the square plastic alarm clock's top",
+    "Hit the center of the small clock with rounded edges's top button",
+    "Press the button on the alarm clock with green stripe's top side",
+    "Tap the center button on the clock with black hands.",
+    "Press the square plastic alarm clock's top button using the right arm",
+    "Click the middle button on the dark blue clock's top side",
+    "Use the right arm to press the blue clock with green stripe's top button",
+    "Activate the blue clock with green stripe by pressing the top button",
+    "Ensure the right arm clicks the top center button of the white-faced alarm clock",
+    "Push the top button on the square plastic alarm clock",
+    "Touch the square plastic alarm clock's center top button with the right arm",
+    "Use the right arm to press the central button on the white-faced alarm clock.",
+    "Locate and press the clock with white dial's top center button",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Use the right arm to activate the white-faced alarm clock's button",
+    "Click the clock with white dial's top center button using the right arm.",
+    "Click the button centered on the square alarm clock.",
+    "Push the central button on the square alarm clock's top side.",
+    "Push the button on the white-faced alarm clock's top center.",
+    "Activate the small clock with rounded edges by pressing its top",
+    "Push the top button of the blue clock with green stripe using the right arm",
+    "Use the right arm to click the top of the clock with black hands",
+    "Touch the palm-sized dark blue clock's button on the top side.",
+    "Locate and press the top button on the square plastic alarm clock",
+    "Direct the right arm to click the button found on the dark blue clock.",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top button center",
+    "Use the right arm to press the clock with white dial button",
+    "Press the center top button of the dark blue clock",
+    "Use the right arm to tap the square plastic alarm clock's central button.",
+    "Use the right arm to press the center top of the white-faced alarm clock",
+    "Press the top middle button of the rounded square-shaped alarm clock",
+    "Click the center button on the blue clock with green stripe's top side.",
+    "the right arm presses the center top button on the small plastic alarm clock",
+    "Use the right arm to press the clock with black hands's top center button.",
+    "Press the top button at the dark blue clock's center."
+  ],
+  "unseen": [
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock."
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode96.json b/click_alarmclock/demo_diverse/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfc6d9da80d5b990d80843f0000ac85040483f5f
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the button at the black matte alarm-clock's top center.",
+    "Use the right arm to tap the smooth black alarm-clock's top center button.",
+    "Click the middle button on the palm-sized alarm-clock's top side",
+    "Click the black alarm-clock's top center button using the right arm.",
+    "Click the center button on the alarm-clock with rounded edges's top side.",
+    "Tap the alarm-clock with rounded edges's top button with the right arm",
+    "the right arm clicks the center top button on the smooth black alarm-clock",
+    "Use the right arm to press the palm-sized alarm-clock's top center button.",
+    "Use the right arm to activate the black alarm-clock's button",
+    "Direct the right arm to click the button found on the lightweight plastic alarm-clock.",
+    "Touch the digital screen alarm-clock's center top button with the right arm",
+    "Use the right arm to click the top center button on the alarm-clock with buttons on side.",
+    "Use the right arm to press the central button on the black alarm-clock.",
+    "Click the top center button of the rectangular alarm-clock",
+    "Push the top button of the alarm-clock with buttons on side using the right arm",
+    "Tap the center button on the black matte alarm-clock.",
+    "Locate and press the top button on the smooth black alarm-clock",
+    "Press the top button in the lightweight plastic alarm-clock's center.",
+    "Press the top button at the alarm-clock with buttons on side's center.",
+    "Locate and press the compact alarm-clock's top center button",
+    "Push the top button on the alarm-clock with digital display",
+    "Use the right arm to press the alarm-clock with buttons on side's top button",
+    "the right arm presses the center top button on the alarm-clock with digital display",
+    "Use the right arm to click the center button on the black matte alarm-clock",
+    "Use the right arm to click the top of the rectangular alarm-clock",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Point the right arm to press the button of the rectangular alarm-clock.",
+    "Use the right arm to press the compact alarm-clock button",
+    "Guide the right arm to press the centered button on the compact alarm-clock.",
+    "Press the small alarm-clock's top button using the right arm",
+    "Click the button centered on the alarm-clock with digital display's top.",
+    "Hit the center of the alarm-clock with rounded edges's top button",
+    "the right arm activates the rectangular alarm-clock by clicking the top button",
+    "Use the right arm to tap the small alarm-clock's top button center",
+    "Press the center button on the alarm-clock with rounded edges's top.",
+    "Press the center top button of the black matte alarm-clock",
+    "Activate the compact alarm-clock by pressing its top",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "Use the right arm to tap the palm-sized alarm-clock's central button.",
+    "Push the button on the alarm-clock with digital display's top center.",
+    "Touch the compact alarm-clock's button on the top side.",
+    "Ensure the right arm clicks the top center button of the alarm-clock with rounded edges",
+    "Press the button on the rectangular alarm-clock's top side",
+    "Press the center top button on the smooth black alarm-clock with the right arm",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "Press the top middle button of the small alarm-clock",
+    "Use the right arm to press the center top of the rectangular alarm-clock",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Click the button centered on the compact alarm-clock.",
+    "Tap the button at the alarm-clock with digital display's top center.",
+    "Use the right arm to tap the black alarm-clock's top center button.",
+    "Click the middle button on the digital screen alarm-clock's top side",
+    "Click the black alarm-clock's top center button using the right arm.",
+    "Click the center button on the digital screen alarm-clock's top side.",
+    "Tap the lightweight plastic alarm-clock's top button with the right arm",
+    "the right arm clicks the center top button on the digital screen alarm-clock",
+    "Use the right arm to press the compact alarm-clock's top center button.",
+    "Use the right arm to activate the alarm-clock with buttons on side's button",
+    "Direct the right arm to click the button found on the rectangular alarm-clock.",
+    "Touch the lightweight plastic alarm-clock's center top button with the right arm",
+    "Use the right arm to click the top center button on the black matte alarm-clock.",
+    "Use the right arm to press the central button on the rectangular alarm-clock.",
+    "Click the top center button of the black alarm-clock",
+    "Push the top button of the black matte alarm-clock using the right arm",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Locate and press the top button on the black matte alarm-clock",
+    "Press the top button in the black matte alarm-clock's center.",
+    "Press the top button at the rectangular alarm-clock's center.",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Push the top button on the alarm-clock with rounded edges",
+    "Use the right arm to press the palm-sized alarm-clock's top button",
+    "the right arm presses the center top button on the rectangular alarm-clock",
+    "Use the right arm to click the center button on the rectangular alarm-clock",
+    "Use the right arm to click the top of the compact alarm-clock",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Push the central button on the compact alarm-clock's top side.",
+    "Point the right arm to press the button of the rectangular alarm-clock.",
+    "Use the right arm to press the palm-sized alarm-clock button",
+    "Guide the right arm to press the centered button on the palm-sized alarm-clock.",
+    "Press the black matte alarm-clock's top button using the right arm",
+    "Click the button centered on the black alarm-clock's top.",
+    "Hit the center of the compact alarm-clock's top button",
+    "the right arm activates the palm-sized alarm-clock by clicking the top button",
+    "Use the right arm to tap the alarm-clock with buttons on side's top button center",
+    "Press the center button on the black alarm-clock's top.",
+    "Press the center top button of the alarm-clock with rounded edges",
+    "Activate the lightweight plastic alarm-clock by pressing its top",
+    "Activate the alarm-clock with buttons on side by pressing the top button",
+    "Use the right arm to tap the compact alarm-clock's central button.",
+    "Push the button on the black alarm-clock's top center.",
+    "Touch the compact alarm-clock's button on the top side.",
+    "Ensure the right arm clicks the top center button of the palm-sized alarm-clock",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Press the center top button on the digital screen alarm-clock with the right arm",
+    "Push the center area of the alarm-clock with digital display's top",
+    "Press the top middle button of the black alarm-clock",
+    "Use the right arm to press the center top of the alarm-clock with rounded edges",
+    "Click the center of the compact alarm-clock's top",
+    "Click the button centered on the palm-sized alarm-clock."
+  ],
+  "unseen": [
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode98.json b/click_alarmclock/demo_diverse/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..b08c7529eba7ba50975852e72efd02c1120bc5ff
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hit the center of the clock with black hands's top button",
+    "Use the right arm to press the center top of the palm-sized dark blue clock",
+    "Use the right arm to press the rounded square-shaped alarm clock button",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Tap the button at the small clock with rounded edges's top center.",
+    "Click the button centered on the small clock with rounded edges's top.",
+    "Touch the rounded square-shaped alarm clock's center top button with the right arm",
+    "the right arm presses the center top button on the rounded square-shaped alarm clock",
+    "Activate the rounded square-shaped alarm clock by clicking its top button",
+    "Use the right arm to click the top of the square alarm clock",
+    "Direct the right arm to click the button found on the blue clock with green stripe.",
+    "Click the center button on the clock with black hands's top side.",
+    "Use the right arm to press the blue clock with green stripe's top center button.",
+    "the right arm clicks the center top button on the square plastic alarm clock",
+    "Touch the blue clock with green stripe's button on the top side.",
+    "Point the right arm to press the button of the clock with white dial.",
+    "Tap the square alarm clock's top button with the right arm",
+    "Press the clock with black hands's top button using the right arm",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Press the top middle button of the square alarm clock",
+    "Push the top button on the small clock with rounded edges",
+    "Ensure the right arm clicks the top center button of the blue clock with green stripe",
+    "Activate the palm-sized dark blue clock by pressing the top button",
+    "Locate and press the white-faced alarm clock's top center button",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Click the button centered on the clock with white dial.",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Press the center top button of the clock with white dial",
+    "the right arm activates the dark blue clock by clicking the top button",
+    "Click the top center button of the palm-sized dark blue clock",
+    "Press the center button on the blue clock with green stripe's top.",
+    "Push the top button of the small clock with rounded edges using the right arm",
+    "Use the right arm to tap the palm-sized dark blue clock's top center button.",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Use the right arm to tap the rounded square-shaped alarm clock's central button.",
+    "Use the right arm to press the central button on the palm-sized dark blue clock.",
+    "Use the right arm to press the small clock with rounded edges's top button",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "Push the central button on the square alarm clock's top side.",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "Press the button on the dark blue clock's top side",
+    "Press the center top button on the rounded square-shaped alarm clock with the right arm",
+    "Click the blue clock with green stripe's top center button using the right arm.",
+    "Use the right arm to activate the palm-sized dark blue clock's button",
+    "Tap the center button on the square alarm clock.",
+    "Click the center of the white-faced alarm clock's top",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Use the right arm to click the center button on the rounded square-shaped alarm clock",
+    "Use the right arm to click the top center button on the square plastic alarm clock.",
+    "Use the right arm to tap the clock with white dial's top button center",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Use the right arm to press the center top of the blue clock with green stripe",
+    "Use the right arm to press the rounded square-shaped alarm clock button",
+    "Activate the dark blue clock by pressing its top",
+    "Tap the button at the small clock with rounded edges's top center.",
+    "Click the button centered on the small plastic alarm clock's top.",
+    "Touch the dark blue clock's center top button with the right arm",
+    "the right arm presses the center top button on the rounded square-shaped alarm clock",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Use the right arm to click the top of the small clock with rounded edges",
+    "Direct the right arm to click the button found on the small clock with rounded edges.",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "Use the right arm to press the small clock with rounded edges's top center button.",
+    "the right arm clicks the center top button on the rounded square-shaped alarm clock",
+    "Touch the palm-sized dark blue clock's button on the top side.",
+    "Point the right arm to press the button of the palm-sized dark blue clock.",
+    "Tap the palm-sized dark blue clock's top button with the right arm",
+    "Press the blue clock with green stripe's top button using the right arm",
+    "Press the top button at the clock with black hands's center.",
+    "Press the top middle button of the rounded square-shaped alarm clock",
+    "Push the top button on the clock with white dial",
+    "Ensure the right arm clicks the top center button of the clock with white dial",
+    "Activate the small plastic alarm clock by pressing the top button",
+    "Locate and press the clock with black hands's top center button",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Click the button centered on the clock with white dial.",
+    "Locate and press the top button on the blue clock with green stripe",
+    "Press the center top button of the blue clock with green stripe",
+    "the right arm activates the dark blue clock by clicking the top button",
+    "Click the top center button of the white-faced alarm clock",
+    "Press the center button on the blue clock with green stripe's top.",
+    "Push the top button of the small plastic alarm clock using the right arm",
+    "Use the right arm to tap the white-faced alarm clock's top center button.",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "Use the right arm to tap the clock with white dial's central button.",
+    "Use the right arm to press the central button on the square alarm clock.",
+    "Use the right arm to press the square plastic alarm clock's top button",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "Push the central button on the clock with black hands's top side.",
+    "Click the middle button on the clock with black hands's top side",
+    "Press the button on the square alarm clock's top side",
+    "Press the center top button on the square alarm clock with the right arm",
+    "Click the small plastic alarm clock's top center button using the right arm.",
+    "Use the right arm to activate the dark blue clock's button",
+    "Tap the center button on the palm-sized dark blue clock.",
+    "Click the center of the dark blue clock's top",
+    "Press the top button in the blue clock with green stripe's center.",
+    "Use the right arm to click the center button on the alarm clock with green stripe",
+    "Use the right arm to click the top center button on the blue clock with green stripe.",
+    "Use the right arm to tap the square alarm clock's top button center"
+  ],
+  "unseen": [
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/click_alarmclock/demo_diverse/instructions/episode99.json b/click_alarmclock/demo_diverse/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..567af8a5e9e4e3b42d92e073fcb97444e4d73da7
--- /dev/null
+++ b/click_alarmclock/demo_diverse/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to press the clock with black hands's top button",
+    "the left arm presses the center top button on the palm-sized dark blue clock",
+    "Push the top button on the dark blue clock",
+    "Guide the left arm to press the centered button on the blue clock with green stripe.",
+    "the left arm clicks the center top button on the clock with white dial",
+    "Use the left arm to press the central button on the small plastic alarm clock.",
+    "Use the left arm to tap the dark blue clock's central button.",
+    "Tap the center button on the alarm clock with green stripe.",
+    "Ensure the left arm clicks the top center button of the clock with white dial",
+    "Press the button on the small plastic alarm clock's top side",
+    "Use the left arm to activate the small clock with rounded edges's button",
+    "Click the button centered on the white-faced alarm clock's top.",
+    "Push the top button of the blue clock with green stripe using the left arm",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Push the central button on the clock with white dial's top side.",
+    "Direct the left arm to click the button found on the dark blue clock.",
+    "Use the left arm to click the top of the clock with black hands",
+    "Click the button centered on the blue clock with green stripe.",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Press the center top button on the small plastic alarm clock with the left arm",
+    "Use the left arm to tap the clock with black hands's top button center",
+    "Use the left arm to press the center top of the small clock with rounded edges",
+    "Press the top button in the small clock with rounded edges's center.",
+    "Press the white-faced alarm clock's top button using the left arm",
+    "Activate the clock with white dial by pressing its top",
+    "Click the center of the small clock with rounded edges's top",
+    "Press the center top button of the rounded square-shaped alarm clock",
+    "the left arm activates the palm-sized dark blue clock by clicking the top button",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Use the left arm to press the small plastic alarm clock button",
+    "Click the middle button on the square alarm clock's top side",
+    "Point the left arm to press the button of the rounded square-shaped alarm clock.",
+    "Touch the square alarm clock's center top button with the left arm",
+    "Click the dark blue clock's top center button using the left arm.",
+    "Activate the square plastic alarm clock by clicking its top button",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "Hit the center of the rounded square-shaped alarm clock's top button",
+    "Click the center button on the white-faced alarm clock's top side.",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "Click the top center button of the square plastic alarm clock",
+    "Use the left arm to click the top center button on the dark blue clock.",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "Tap the white-faced alarm clock's top button with the left arm",
+    "Push the button on the square plastic alarm clock's top center.",
+    "Activate the clock with black hands by pressing the top button",
+    "Press the top middle button of the clock with white dial",
+    "Use the left arm to tap the alarm clock with green stripe's top center button.",
+    "Touch the palm-sized dark blue clock's button on the top side.",
+    "Use the left arm to press the blue clock with green stripe's top center button.",
+    "Use the left arm to click the center button on the palm-sized dark blue clock",
+    "Use the left arm to press the alarm clock with green stripe's top button",
+    "the left arm presses the center top button on the rounded square-shaped alarm clock",
+    "Push the top button on the white-faced alarm clock",
+    "Guide the left arm to press the centered button on the clock with black hands.",
+    "the left arm clicks the center top button on the square plastic alarm clock",
+    "Use the left arm to press the central button on the clock with white dial.",
+    "Use the left arm to tap the clock with white dial's central button.",
+    "Tap the center button on the small clock with rounded edges.",
+    "Ensure the left arm clicks the top center button of the alarm clock with green stripe",
+    "Press the button on the clock with black hands's top side",
+    "Use the left arm to activate the rounded square-shaped alarm clock's button",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Push the top button of the dark blue clock using the left arm",
+    "Locate and press the white-faced alarm clock's top center button",
+    "Push the central button on the dark blue clock's top side.",
+    "Direct the left arm to click the button found on the alarm clock with green stripe.",
+    "Use the left arm to click the top of the clock with white dial",
+    "Click the button centered on the white-faced alarm clock.",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Press the center top button on the square alarm clock with the left arm",
+    "Use the left arm to tap the square alarm clock's top button center",
+    "Use the left arm to press the center top of the small plastic alarm clock",
+    "Press the top button in the alarm clock with green stripe's center.",
+    "Press the clock with white dial's top button using the left arm",
+    "Activate the square plastic alarm clock by pressing its top",
+    "Click the center of the small plastic alarm clock's top",
+    "Press the center top button of the white-faced alarm clock",
+    "the left arm activates the square alarm clock by clicking the top button",
+    "Locate and press the top button on the clock with black hands",
+    "Use the left arm to press the palm-sized dark blue clock button",
+    "Click the middle button on the rounded square-shaped alarm clock's top side",
+    "Point the left arm to press the button of the white-faced alarm clock.",
+    "Touch the dark blue clock's center top button with the left arm",
+    "Click the square plastic alarm clock's top center button using the left arm.",
+    "Activate the clock with black hands by clicking its top button",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "Hit the center of the dark blue clock's top button",
+    "Click the center button on the rounded square-shaped alarm clock's top side.",
+    "Push the center area of the square alarm clock's top",
+    "Click the top center button of the dark blue clock",
+    "Use the left arm to click the top center button on the small plastic alarm clock.",
+    "Tap the button at the blue clock with green stripe's top center.",
+    "Tap the blue clock with green stripe's top button with the left arm",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "Press the top middle button of the blue clock with green stripe",
+    "Use the left arm to tap the square alarm clock's top center button.",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Use the left arm to press the alarm clock with green stripe's top center button.",
+    "Use the left arm to click the center button on the palm-sized dark blue clock"
+  ],
+  "unseen": [
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode0.json b/open_microwave/demo_diverse/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d78d3746e320bab6234d28e1bc4b461ab9b768f2
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave by pulling with the left arm.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull the handle to open the microwave with glass top.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Use the handle to open the microwave for heating food.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Grasp the microwave's handle and pull to open.",
+    "Pull the handle to open the microwave.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Utilize the left arm to pull the microwave open.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Pull the microwave's handle to open it.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Activate the door to open the microwave with glass top.",
+    "Use the left arm to pull the microwave open.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Pull the the microwave's handle using the left arm.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Pull and open the microwave with smooth surface.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Get the microwave with smooth surface open.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Pull the dark gray slanted microwave box's handle to open it.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the door to open the microwave with glass top.",
+    "Activate the door to open the microwave for heating food.",
+    "Use the left arm to pull the microwave with glass top open.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Grasp the microwave's handle and pull to open.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Pull the the microwave with glossy dark gray finish's handle using the left arm.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Pull and open the microwave for heating food.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open."
+  ],
+  "unseen": [
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode20.json b/open_microwave/demo_diverse/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..74b33a5c693d481cbe39b75169f47e06744735d6
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the microwave with the left arm.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Use the handle to open the microwave for heating food.",
+    "Pull and open the microwave.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Utilize the left arm to pull the microwave open.",
+    "Engage the microwave's handle and open it.",
+    "Get the microwave with smooth surface open.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Open the microwave by pulling on its handle.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Pull to open the microwave.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Grip the microwave with glass top's handle and pull it open.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Activate the door to open the microwave for heating food.",
+    "Grasp the microwave's handle and pull to open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Pull and open the microwave with glass top.",
+    "Open the dark gray slanted microwave box by pulling with the left arm.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Get the gray and glass microwave for cooking open.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Engage the microwave using the left arm to open.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Use the left arm to grab and pull the microwave.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Use the left arm to engage the microwave with glass top's opening mechanism.",
+    "Grab the handle and open the gray and glass microwave for cooking.",
+    "Pull the door to open the microwave for heating food.",
+    "Grip the microwave's handle and pull it open.",
+    "Use the left arm to grab and open the microwave with smooth surface.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Activate the door to open the microwave for heating food.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Grab the handle and open the gray appliance with transparent glass top with the left arm.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Get the gray and glass microwave for cooking open.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Pull to open the dark gray slanted microwave box."
+  ],
+  "unseen": [
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode25.json b/open_microwave/demo_diverse/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fc3a9d093d0ffd01175b55224b476b3403fdf4f
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Use the handle to open the microwave for heating food.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Engage the rectangular gray microwave using the left arm to open.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Get the microwave for heating food open.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Pull the handle to open the microwave.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Grab the handle and open the gray appliance with transparent glass top.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Pull the handle to open the microwave for heating food.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Pull the the microwave with glossy dark gray finish's handle using the left arm.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Grip the microwave's handle and pull it open.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Pull and open the rectangular gray microwave.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Get the microwave open.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Pull the handle to open the microwave with glass top.",
+    "Handle the microwave and open it with the left arm.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Pull the the rectangular gray microwave's handle using the left arm.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Engage the microwave with glossy dark gray finish's handle and open it.",
+    "Pull to open the microwave for heating food.",
+    "Use the left arm to pull the microwave with glossy dark gray finish open.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Pull and open the rectangular microwave with clear glass panel.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Get the medium microwave with slanted sides open.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Pull the door to open the microwave with glass top.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Open the gray appliance with transparent glass top using the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode31.json b/open_microwave/demo_diverse/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2bde9299dfa13917c7a810d753744fc7200f3bc
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle of the countertop microwave to open it.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Open the gray microwave by pulling its handle.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Get the yellow-sided microwave open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the gray microwave using the left arm.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Access the inside by opening the rectangular microwave.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Engage the gray microwave using the left arm to open.",
+    "Pull the door to open the rectangular microwave.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Pull to open the rectangular microwave.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Pull and open the medium microwave.",
+    "Grab the handle and open the microwave with knobs.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Open the medium microwave by pulling on its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Pull the the microwave's handle using the left arm.",
+    "Activate the door to open the gray microwave.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Get the gray microwave open.",
+    "Open the microwave by pulling its handle.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Open the gray microwave using the left arm.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Pull the handle to open the microwave.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Access the inside by opening the microwave with knobs.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the microwave open.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Pull to open the microwave with textured top panel.",
+    "Engage the microwave's handle and open it.",
+    "Pull and open the gray microwave.",
+    "Grab the handle and open the gray microwave.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Open the gray microwave by pulling on its handle.",
+    "Pull the handle to open the gray microwave.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Activate the door to open the medium microwave.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Use the handle to open the gray microwave.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Get the rectangular microwave open.",
+    "Open the microwave by pulling its handle.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Access the inside by opening the rectangular microwave.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Grip the microwave's handle and pull it open.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open."
+  ],
+  "unseen": [
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode32.json b/open_microwave/demo_diverse/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..b430072b9867833abc63b6618ac005b3441b6453
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Pull the the microwave's handle using the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Pull the door to open the microwave.",
+    "Get the rectangular microwave with clear glass panel open.",
+    "Use the handle to open the microwave with glass top.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Grip the microwave with smooth surface's handle and pull it open.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Grab and pull the dark gray kitchen microwave using the left arm.",
+    "Pull the handle of the microwave to open it.",
+    "Grasp the medium microwave with slanted sides's handle and pull to open.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Engage the medium microwave with slanted sides using the left arm to open.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull and open the microwave.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Utilize the left arm to pull the microwave with smooth surface open.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Grab the handle and open the microwave with glass top with the left arm.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Grab the handle and open the microwave.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Use the left arm to grab and open the gray appliance with transparent glass top.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull open the door of the rectangular gray microwave.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Pull open the door of the rectangular microwave with clear glass panel using the left arm.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull the the rectangular gray microwave's handle using the left arm.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Get the microwave for heating food open.",
+    "Use the handle to open the microwave with glass top.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Activate the door to open the microwave with smooth surface.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Engage the microwave with glass top using the left arm to open.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Use the left arm to grab and pull the dark gray kitchen microwave.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Utilize the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Access the inside by opening the microwave with glass top.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Open the rectangular microwave with clear glass panel by pulling with the left arm.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Engage the gray appliance with transparent glass top's handle and open it.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Pull the door to open the microwave.",
+    "Get the dark gray kitchen microwave open.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Pull the handle to open the microwave with glass top.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle of the microwave to open it.",
+    "Grasp the microwave's handle and pull to open.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Engage the microwave with glass top using the left arm to open.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Pull and open the gray appliance with transparent glass top."
+  ],
+  "unseen": [
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode34.json b/open_microwave/demo_diverse/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..d799564c94f38d1ce4b4770a236c45982b2b368e
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Get the microwave for heating food open.",
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull the the gray and glass microwave for cooking's handle using the left arm.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Grasp the medium microwave with slanted sides's handle and pull to open.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Pull the handle to open the microwave with glass top.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Activate the door to open the microwave with glass top.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Pull the handle of the rectangular gray microwave with the left arm.",
+    "Grab the handle and open the microwave with smooth surface.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Pull the handle of the microwave with glossy dark gray finish to open it.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Use the handle to open the microwave with glass top.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Get the microwave for heating food open.",
+    "Open the microwave by grasping its handle.",
+    "Open the gray appliance with transparent glass top using the left arm.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Pull to open the microwave with smooth surface.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the left arm to pull the medium microwave with slanted sides open.",
+    "Activate the door to open the medium microwave with slanted sides.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Grab the handle and open the microwave.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Grip the microwave's handle and pull it open.",
+    "Engage the dark gray kitchen microwave using the left arm to open.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Use the handle to open the microwave for heating food.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Get the dark gray slanted microwave box open.",
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Open the gray appliance with transparent glass top using the left arm.",
+    "Pull the the microwave's handle using the left arm.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Pull the handle to open the microwave for heating food.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Activate the door to open the microwave for heating food.",
+    "Open the microwave for heating food by pulling with the left arm.",
+    "Use the left arm to pull open the door of the rectangular gray microwave.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode37.json b/open_microwave/demo_diverse/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..d25d62ebe92681f4e684dbadc819e434b7bae88e
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and open the microwave.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Utilize the left arm to pull the microwave with glossy dark gray finish open.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Get the dark gray kitchen microwave open.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Pull the door to open the microwave.",
+    "Open the gray and glass microwave for cooking using the left arm.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Pull the microwave with smooth surface's handle to open it.",
+    "Open the microwave by pulling with the left arm.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Use the left arm to grab and pull the gray and glass microwave for cooking.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Grasp the gray and glass microwave for cooking's handle and pull to open.",
+    "Open the medium microwave with slanted sides by pulling on its handle.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Pull the handle to open the microwave for heating food.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Use the left arm to grab and open the rectangular microwave with clear glass panel.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Grab the handle and open the microwave with glass top with the left arm.",
+    "Pull open the door of the rectangular gray microwave using the left arm.",
+    "Pull the handle of the dark gray slanted microwave box with the left arm.",
+    "Open the rectangular gray microwave by pulling its door with the left arm.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Grip the microwave's handle and pull it open.",
+    "Get the microwave with glass top open.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Pull the door of the microwave for heating food to open it.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Open the rectangular microwave with clear glass panel by pulling with the left arm.",
+    "Use the left arm to engage the microwave with glossy dark gray finish's opening mechanism.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Grasp the dark gray kitchen microwave's handle and pull to open.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Engage the medium microwave with slanted sides using the left arm to open.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Open the medium microwave with slanted sides by pulling its door with the left arm.",
+    "Utilize the left arm to pull the microwave open.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Pull to open the microwave with smooth surface.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Use the left arm to pull the microwave with smooth surface open.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Open the microwave with smooth surface using the left arm.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Pull the handle of the microwave to open it.",
+    "Engage the gray and glass microwave for cooking's handle and open it."
+  ],
+  "unseen": [
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode39.json b/open_microwave/demo_diverse/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b9c7aa170b67ddea35a71b60e2d881847d0a8a1
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Access the inside by opening the gray appliance with transparent glass top.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Pull to open the rectangular gray microwave.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Open the dark gray kitchen microwave using the left arm.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Pull the handle of the rectangular gray microwave with the left arm.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Pull the door of the dark gray kitchen microwave to open it.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull the door to open the microwave with glass top.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Open the microwave by pulling on its handle.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Pull the handle of the microwave for heating food to open it.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Engage the microwave's handle and open it.",
+    "Open the microwave with glass top using the left arm.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Pull the the microwave with glass top's handle using the left arm.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Engage the microwave using the left arm to open.",
+    "Grab and pull the medium microwave with slanted sides using the left arm.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Get the microwave for heating food open.",
+    "Utilize the left arm to pull the microwave open.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Activate the door to open the microwave.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Use the left arm to grab and open the microwave with glass top.",
+    "Pull open the door of the dark gray slanted microwave box using the left arm.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Use the handle to open the gray appliance with transparent glass top.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Pull and open the microwave with glossy dark gray finish.",
+    "Use the left arm to engage the microwave with smooth surface's opening mechanism.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Grasp the microwave's handle and pull to open.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Pull the the microwave with glossy dark gray finish's handle using the left arm.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Pull the handle to open the microwave with glossy dark gray finish."
+  ],
+  "unseen": [
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode45.json b/open_microwave/demo_diverse/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fd7fe2946d00dc04f295da332d1ffd3b75b5ed1
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull and open the medium microwave with slanted sides.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Handle the microwave with smooth surface and open it with the left arm.",
+    "Grip the microwave's handle and pull it open.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Pull the handle of the microwave with glass top with the left arm.",
+    "Pull the door to open the medium microwave with slanted sides.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Pull the handle to open the microwave with glass top.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Get the medium microwave with slanted sides open.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Pull to open the microwave for heating food.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Pull the microwave with glossy dark gray finish's handle to open it.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Engage the left arm to open the medium microwave with slanted sides.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Pull and open the microwave for heating food.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Use the left arm to open the dark gray slanted microwave box by pulling.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Open the microwave with smooth surface by grasping its handle.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Grip the dark gray slanted microwave box's handle and pull it open.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Pull the handle of the rectangular gray microwave with the left arm.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Get the dark gray slanted microwave box open.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Pull to open the microwave with glossy dark gray finish.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Pull the microwave's handle to open it.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Engage the left arm to open the microwave.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Pull and open the dark gray slanted microwave box.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Use the left arm to open the microwave for heating food by pulling.",
+    "Open the microwave for heating food by pulling its door with the left arm.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Grab the handle and open the microwave for heating food with the left arm.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull the the rectangular gray microwave's handle using the left arm.",
+    "Pull open the door of the rectangular gray microwave using the left arm.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the door to open the rectangular microwave with clear glass panel."
+  ],
+  "unseen": [
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode48.json b/open_microwave/demo_diverse/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..13d334aecb978f4c964cf97f0f8da069ffdeb3c1
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull and open the microwave with smooth surface.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Open the microwave with smooth surface by pulling with the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Pull the the microwave with glass top's handle using the left arm.",
+    "Use the left arm to pull the medium microwave with slanted sides open.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Pull to open the dark gray kitchen microwave.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Grasp the dark gray slanted microwave box's handle and pull to open.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Grab the handle and open the microwave with glass top.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Open the microwave for heating food using the left arm.",
+    "Pull the door to open the rectangular microwave with clear glass panel.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Get the gray appliance with transparent glass top open.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Grab and pull the microwave using the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave with glass top.",
+    "Open the gray and glass microwave for cooking by pulling its door with the left arm.",
+    "Pull the handle of the microwave with glass top to open it.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Activate the door to open the gray and glass microwave for cooking.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Pull the handle of the gray and glass microwave for cooking with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Open the rectangular microwave with clear glass panel by pulling with the left arm.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Pull the the microwave with glass top's handle using the left arm.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Pull open the door of the gray and glass microwave for cooking using the left arm.",
+    "Grab the handle and open the rectangular microwave with clear glass panel.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Pull the door to open the rectangular gray microwave.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Engage the gray appliance with transparent glass top using the left arm to open.",
+    "Use the left arm to pull open the door of the gray and glass microwave for cooking.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Grab the handle and open the gray appliance with transparent glass top with the left arm.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Open the microwave by pulling its handle.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Engage the rectangular gray microwave's handle and open it.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Open the rectangular gray microwave by pulling its door with the left arm.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Use the left arm to engage the dark gray kitchen microwave's opening mechanism.",
+    "Utilize the left arm to pull the dark gray kitchen microwave open.",
+    "Activate the door to open the microwave with glass top.",
+    "Pull and open the microwave with smooth surface.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull the door of the medium microwave with slanted sides to open it.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Use the left arm to grab and pull the microwave with glass top.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Pull the the gray appliance with transparent glass top's handle using the left arm.",
+    "Use the left arm to pull the microwave with glass top open.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Handle the rectangular microwave with clear glass panel and open it with the left arm.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Pull the dark gray slanted microwave box's handle to open it.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Grab the handle and open the microwave for heating food.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Open the microwave with smooth surface using the left arm.",
+    "Pull the door to open the microwave for heating food.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Get the dark gray kitchen microwave open.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open."
+  ],
+  "unseen": [
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode49.json b/open_microwave/demo_diverse/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..86502236f3b62ae42ebdce6bfbddb4b351c5eb2e
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Open the rectangular microwave using the left arm.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Pull the the microwave's handle using the left arm.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to grab and pull the microwave.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Pull to open the microwave.",
+    "Activate the door to open the gray microwave.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Open the microwave by pulling with the left arm.",
+    "Open the gray microwave by pulling on its handle.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Get the microwave with knobs open.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Open the medium microwave using the left arm.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Open the medium microwave by grasping its handle.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Open the microwave by pulling its handle.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Pull the handle to open the microwave with knobs.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the door of the microwave to open it.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Pull and open the microwave.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Grab the handle and open the microwave with knobs.",
+    "Pull to open the microwave.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Use the left arm to pull the medium microwave open.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Grab and pull the microwave using the left arm.",
+    "Pull the countertop microwave's handle to open it.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Get the microwave open.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Open the medium microwave using the left arm.",
+    "Engage the left arm to open the countertop microwave.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Open the microwave by pulling its handle.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Utilize the left arm to pull the microwave open.",
+    "Pull the handle to open the rectangular microwave.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the door of the countertop microwave to open it.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Pull and open the gray and yellow microwave with rounded edges."
+  ],
+  "unseen": [
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode52.json b/open_microwave/demo_diverse/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..34d2290a088ba92e3c611ff0e066f56b48b7e224
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode52.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling with the left arm.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Grab the handle and open the dark gray slanted microwave box with the left arm.",
+    "Pull and open the microwave with smooth surface.",
+    "Activate the door to open the dark gray kitchen microwave.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Use the left arm to grab and open the microwave with smooth surface.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Open the microwave for heating food using the left arm.",
+    "Engage the rectangular microwave with clear glass panel's handle and open it.",
+    "Pull open the door of the microwave with glossy dark gray finish using the left arm.",
+    "Open the dark gray kitchen microwave by pulling on its handle.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Use the left arm to pull open the door of the medium microwave with slanted sides.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Get the microwave open.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Pull the handle to open the microwave.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Open the gray appliance with transparent glass top by grasping its handle.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull the medium microwave with slanted sides open.",
+    "Grab the handle and open the gray and glass microwave for cooking.",
+    "Pull the handle of the microwave for heating food with the left arm.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Grip the microwave with smooth surface's handle and pull it open.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Handle the medium microwave with slanted sides and open it with the left arm.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Open the microwave by pulling its handle.",
+    "Grab the handle and open the microwave with smooth surface with the left arm.",
+    "Pull and open the microwave with glass top.",
+    "Activate the door to open the microwave for heating food.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Pull the handle to open the microwave with glass top.",
+    "Use the left arm to engage the microwave with glass top's opening mechanism.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Engage the left arm to open the microwave with smooth surface.",
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Open the microwave with glossy dark gray finish using the left arm.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Pull open the door of the microwave for heating food using the left arm.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Get the medium microwave with slanted sides open.",
+    "Pull the handle of the gray appliance with transparent glass top to open it.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Access the inside by opening the dark gray slanted microwave box.",
+    "Use the left arm to grab and pull the microwave.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Open the microwave by pulling its handle.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Use the left arm to pull the microwave open.",
+    "Grab the handle and open the rectangular gray microwave.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Grab and pull the gray and glass microwave for cooking using the left arm.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Pull to open the microwave with smooth surface.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Open the dark gray slanted microwave box by pulling its door with the left arm.",
+    "Pull the the microwave with glass top's handle using the left arm.",
+    "Open the dark gray kitchen microwave by pulling its handle.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Pull and open the microwave with glass top.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Engage the dark gray slanted microwave box using the left arm to open.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Use the left arm to grab and open the gray and glass microwave for cooking.",
+    "Engage the left arm to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to open the microwave by pulling.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Pull open the door of the microwave using the left arm.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Grasp the medium microwave with slanted sides's handle and pull to open.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Get the microwave with glossy dark gray finish open."
+  ],
+  "unseen": [
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode59.json b/open_microwave/demo_diverse/instructions/episode59.json
new file mode 100644
index 0000000000000000000000000000000000000000..2525070783fbcea91d7292b40eb34c202924f99a
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode59.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the handle of the medium microwave to open it.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the door to open the countertop microwave.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Access the inside by opening the microwave with knobs.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Pull the handle to open the countertop microwave.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Pull and open the rectangular microwave.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Engage the microwave using the left arm to open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Get the yellow-sided microwave open.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Activate the door to open the medium microwave.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Pull the handle to open the microwave.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Access the inside by opening the gray microwave.",
+    "Grab the handle and open the microwave with knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Pull and open the microwave with knobs.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Pull to open the microwave with textured top panel.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Engage the microwave using the left arm to open.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Get the microwave with patterned top and knobs open.",
+    "Pull the microwave's handle to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Open the microwave by pulling on its handle.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Grab the handle and open the microwave.",
+    "Pull the handle to open the countertop microwave.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Open the microwave by pulling its handle.",
+    "Open the microwave by grasping its handle.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Pull and open the countertop microwave.",
+    "Engage the left arm to open the gray microwave."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode61.json b/open_microwave/demo_diverse/instructions/episode61.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffed1b55b3c807934151010461d4dafbe1ec199e
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode61.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the microwave with glass top.",
+    "Pull the microwave for heating food's handle to open it.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Pull to open the microwave.",
+    "Use the left arm to grab and pull the rectangular microwave with clear glass panel.",
+    "Access the inside by opening the microwave.",
+    "Use the left arm to open the microwave with glossy dark gray finish by pulling.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Get the gray and glass microwave for cooking open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Use the handle to open the microwave with smooth surface.",
+    "Pull the the rectangular microwave with clear glass panel's handle using the left arm.",
+    "Grip the rectangular microwave with clear glass panel's handle and pull it open.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Pull open the door of the dark gray slanted microwave box using the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Open the microwave for heating food by pulling its handle.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Grab the handle and open the microwave.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Use the left arm to grab and open the dark gray slanted microwave box.",
+    "Grab and pull the microwave with smooth surface using the left arm.",
+    "Open the rectangular gray microwave by grasping its handle.",
+    "Activate the door to open the microwave for heating food.",
+    "Handle the gray and glass microwave for cooking and open it with the left arm.",
+    "Open the microwave with glass top by pulling with the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Open the microwave with glass top using the left arm.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Grasp the microwave's handle and pull to open.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Pull to open the rectangular gray microwave.",
+    "Use the left arm to grab and pull the gray appliance with transparent glass top.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Use the left arm to pull open the door of the microwave for heating food.",
+    "Get the microwave with smooth surface open.",
+    "Grab the handle and open the rectangular gray microwave with the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Use the handle to open the dark gray kitchen microwave.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Pull the door to open the microwave with glass top.",
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Open the microwave for heating food by pulling on its handle.",
+    "Grab the handle and open the microwave.",
+    "Use the left arm to pull the rectangular gray microwave open.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Grab and pull the microwave with glossy dark gray finish using the left arm.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Activate the door to open the microwave for heating food.",
+    "Handle the gray appliance with transparent glass top and open it with the left arm.",
+    "Open the rectangular microwave with clear glass panel by pulling with the left arm.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Pull the handle of the medium microwave with slanted sides with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Pull the gray appliance with transparent glass top's handle to open it.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Pull to open the microwave for heating food.",
+    "Use the left arm to grab and pull the microwave for heating food.",
+    "Access the inside by opening the gray and glass microwave for cooking.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Get the microwave open.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Open the gray and glass microwave for cooking by pulling on its handle.",
+    "Grab the handle and open the dark gray kitchen microwave.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Pull the door of the microwave for heating food to open it."
+  ],
+  "unseen": [
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode75.json b/open_microwave/demo_diverse/instructions/episode75.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0b3594cb11253627d25740268bd2ffd26340789
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode75.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Engage the left arm to open the countertop microwave.",
+    "Pull the door of the microwave to open it.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the handle of the microwave to open it.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Pull the countertop microwave's handle to open it.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Access the inside by opening the rectangular microwave.",
+    "Pull the door to open the microwave.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Open the countertop microwave by pulling its handle.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Grab the handle and open the countertop microwave.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Get the microwave open.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Engage the left arm to open the microwave.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Pull the gray microwave's handle to open it.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Pull to open the rectangular microwave.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Use the left arm to open the microwave by pulling.",
+    "Pull and open the gray microwave.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Pull the door to open the medium microwave.",
+    "Engage the medium microwave using the left arm to open.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Grasp the microwave with textured top panel's handle and pull to open.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Use the handle to open the microwave.",
+    "Get the gray microwave open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Engage the left arm to open the countertop microwave.",
+    "Pull the door of the gray microwave to open it.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Pull open the door of the microwave using the left arm.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Open the microwave by pulling its handle.",
+    "Utilize the left arm to pull the medium microwave open.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Pull to open the yellow-sided microwave.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Open the microwave by grasping its handle.",
+    "Use the left arm to open the microwave by pulling.",
+    "Pull and open the microwave.",
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open."
+  ],
+  "unseen": [
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode78.json b/open_microwave/demo_diverse/instructions/episode78.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c7e04b62935a0ec125f11747f9d7f2a3749ab9c
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode78.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Grab the handle and open the gray microwave.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Open the gray microwave using the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Activate the door to open the gray microwave.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Get the microwave with patterned top and knobs open.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Grasp the microwave's handle and pull to open.",
+    "Use the handle to open the medium microwave.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Use the left arm to pull the gray microwave open.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Pull the handle of the medium microwave to open it.",
+    "Pull the handle to open the rectangular microwave.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Open the countertop microwave using the left arm.",
+    "Pull the handle to open the rectangular microwave.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Engage the microwave with knobs's handle and open it.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Pull and open the medium microwave.",
+    "Get the microwave with knobs open.",
+    "Pull open the door of the microwave using the left arm.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Use the handle to open the countertop microwave.",
+    "Open the gray microwave by pulling its handle.",
+    "Access the inside by opening the microwave.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Open the medium microwave by grasping its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Utilize the left arm to pull the microwave open.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the countertop microwave by pulling its handle.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Pull the handle to open the medium microwave.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Pull the countertop microwave's handle to open it.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Grab the handle and open the microwave.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Open the countertop microwave using the left arm.",
+    "Pull the handle to open the microwave with knobs.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Pull to open the medium microwave.",
+    "Pull and open the yellow-sided microwave.",
+    "Get the countertop microwave open.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Grasp the medium microwave's handle and pull to open."
+  ],
+  "unseen": [
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode80.json b/open_microwave/demo_diverse/instructions/episode80.json
new file mode 100644
index 0000000000000000000000000000000000000000..e11a6d7e89d07c904474ddfed156fe77fb4402b1
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode80.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Engage the gray microwave using the left arm to open.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Access the inside by opening the microwave with knobs.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Pull the door of the countertop microwave to open it.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Open the gray microwave using the left arm.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Engage the gray microwave's handle and open it.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Open the microwave by pulling on its handle.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Pull the door to open the rectangular microwave.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Pull and open the rectangular microwave.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Grip the microwave's handle and pull it open.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Open the gray microwave by grasping its handle.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Pull to open the countertop microwave.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Pull the handle to open the rectangular microwave.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Engage the microwave using the left arm to open.",
+    "Pull the handle to open the microwave.",
+    "Access the inside by opening the rectangular microwave.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Pull the door of the medium microwave to open it.",
+    "Open the medium microwave by pulling its handle.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Engage the yellow-sided microwave's handle and open it.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides.",
+    "Open the medium microwave by pulling on its handle.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Pull the door to open the medium microwave.",
+    "Engage the left arm to open the gray microwave with two control knobs.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Pull the microwave's handle to open it.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Pull to open the microwave.",
+    "Pull the handle of the medium microwave to open it.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Use the handle to open the medium microwave.",
+    "Activate the door to open the microwave with knobs.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Open the countertop microwave using the left arm.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Grab the handle and open the microwave with knobs.",
+    "Open the gray microwave by pulling on its handle.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Pull and open the gray microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle."
+  ],
+  "unseen": [
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode84.json b/open_microwave/demo_diverse/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..55914c8f470bed496c2c6d8a50e831458ba7e8c2
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode84.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Pull the handle to open the microwave.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Use the left arm to open the rectangular gray microwave by pulling.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Utilize the left arm to pull the dark gray slanted microwave box open.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Pull the handle of the dark gray kitchen microwave with the left arm.",
+    "Open the microwave with smooth surface by pulling its handle.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Open the gray appliance with transparent glass top by pulling on its handle.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Grasp the rectangular gray microwave's handle and pull to open.",
+    "Get the microwave for heating food open.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Use the handle to open the dark gray slanted microwave box.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Pull the door of the microwave with glossy dark gray finish to open it.",
+    "Open the dark gray slanted microwave box using the left arm.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Open the microwave by pulling its handle.",
+    "Pull the the microwave's handle using the left arm.",
+    "Engage the left arm to open the gray appliance with transparent glass top.",
+    "Use the left arm to pull the gray and glass microwave for cooking open.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Pull the handle to open the dark gray kitchen microwave.",
+    "Grip the microwave's handle and pull it open.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Pull the handle of the dark gray kitchen microwave to open it.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Use the left arm to grab and open the microwave for heating food.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Pull open the door of the rectangular gray microwave using the left arm.",
+    "Pull the handle to open the microwave with glass top.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Use the left arm to pull open the door of the dark gray kitchen microwave.",
+    "Activate the door to open the microwave with glossy dark gray finish.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Open the microwave by pulling its handle.",
+    "Grab and pull the rectangular microwave with clear glass panel using the left arm.",
+    "Access the inside by opening the rectangular gray microwave.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Grab the handle and open the microwave with glass top with the left arm.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Get the gray and glass microwave for cooking open.",
+    "Open the gray and glass microwave for cooking by grasping its handle.",
+    "Use the handle to open the medium microwave with slanted sides.",
+    "Engage the microwave with smooth surface using the left arm to open.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Engage the gray and glass microwave for cooking's handle and open it.",
+    "Pull the door of the microwave with glass top to open it.",
+    "Open the rectangular microwave with clear glass panel using the left arm.",
+    "Grab the handle and open the medium microwave with slanted sides.",
+    "Open the medium microwave with slanted sides by pulling its handle.",
+    "Pull the the microwave with glossy dark gray finish's handle using the left arm.",
+    "Engage the left arm to open the microwave for heating food.",
+    "Use the left arm to pull the microwave open.",
+    "Pull the door to open the microwave with glass top.",
+    "Pull the microwave with glass top's handle to open it.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Grip the microwave with glossy dark gray finish's handle and pull it open.",
+    "Use the left arm to engage the rectangular gray microwave's opening mechanism.",
+    "Use the left arm to grab and pull the dark gray slanted microwave box.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Use the left arm to open the dark gray kitchen microwave by pulling.",
+    "Pull open the door of the microwave with glass top using the left arm.",
+    "Pull the handle to open the microwave for heating food.",
+    "Utilize the left arm to pull the rectangular gray microwave open.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Activate the door to open the microwave for heating food.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Grab and pull the microwave using the left arm.",
+    "Access the inside by opening the microwave.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Grab the handle and open the gray appliance with transparent glass top with the left arm.",
+    "Grasp the microwave for heating food's handle and pull to open.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Open the microwave by grasping its handle."
+  ],
+  "unseen": [
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls using the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/instructions/episode97.json b/open_microwave/demo_diverse/instructions/episode97.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a667b0a95d46534b64ca88dc27b1128d13a5e7
--- /dev/null
+++ b/open_microwave/demo_diverse/instructions/episode97.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Open the rectangular gray microwave by pulling on its handle.",
+    "Pull the rectangular microwave with clear glass panel's handle to open it.",
+    "Use the left arm to engage the gray and glass microwave for cooking's opening mechanism.",
+    "Pull the handle of the microwave with smooth surface to open it.",
+    "Grasp the medium microwave with slanted sides's handle and pull to open.",
+    "Engage the microwave for heating food's handle and open it.",
+    "Open the microwave for heating food using the left arm.",
+    "Use the left arm to grab and open the microwave with smooth surface.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Get the microwave with glass top open.",
+    "Access the inside by opening the medium microwave with slanted sides.",
+    "Pull to open the gray and glass microwave for cooking.",
+    "Pull the door to open the gray appliance with transparent glass top.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Pull the door of the gray appliance with transparent glass top to open it.",
+    "Pull the handle to open the microwave for heating food.",
+    "Use the left arm to grab and pull the gray appliance with transparent glass top.",
+    "Handle the microwave and open it with the left arm.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Use the left arm to pull the gray appliance with transparent glass top open.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Pull the handle to open the microwave with glass top.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Open the microwave by pulling with the left arm.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Use the left arm to open the microwave by pulling.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Open the microwave with glossy dark gray finish by pulling its door with the left arm.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Pull the handle to open the medium microwave with slanted sides.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Grab the handle and open the dark gray kitchen microwave with the left arm.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Open the microwave with glossy dark gray finish by pulling on its handle.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Use the left arm to engage the gray and glass microwave for cooking's opening mechanism.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Engage the dark gray slanted microwave box's handle and open it.",
+    "Open the microwave for heating food using the left arm.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Use the handle to open the microwave with glossy dark gray finish.",
+    "Get the medium microwave with slanted sides open.",
+    "Access the inside by opening the microwave with glass top.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Pull the door to open the microwave with glass top.",
+    "Open the rectangular gray microwave by pulling its handle.",
+    "Pull the the dark gray kitchen microwave's handle using the left arm.",
+    "Grip the dark gray kitchen microwave's handle and pull it open.",
+    "Pull the door of the microwave with smooth surface to open it.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Use the left arm to grab and pull the microwave with smooth surface.",
+    "Handle the microwave for heating food and open it with the left arm.",
+    "Grab and pull the microwave for heating food using the left arm.",
+    "Use the left arm to pull the microwave for heating food open.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Pull the handle of the gray appliance with transparent glass top with the left arm.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Open the gray appliance with transparent glass top by pulling with the left arm.",
+    "Grab the handle and open the microwave with glass top.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Open the microwave with smooth surface by pulling its door with the left arm.",
+    "Pull and open the gray appliance with transparent glass top.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Open the rectangular microwave with clear glass panel by grasping its handle.",
+    "Use the left arm to pull open the door of the microwave with smooth surface.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Utilize the left arm to pull the gray and glass microwave for cooking open.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to engage the rectangular microwave with clear glass panel's opening mechanism.",
+    "Pull the handle of the gray and glass microwave for cooking to open it.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Engage the dark gray kitchen microwave's handle and open it.",
+    "Open the rectangular gray microwave using the left arm.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Use the handle to open the gray and glass microwave for cooking.",
+    "Get the microwave open.",
+    "Access the inside by opening the microwave with smooth surface.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Pull the door to open the gray and glass microwave for cooking.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull the the rectangular gray microwave's handle using the left arm.",
+    "Grip the rectangular gray microwave's handle and pull it open.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Pull the handle to open the microwave for heating food.",
+    "Use the left arm to grab and pull the microwave with glossy dark gray finish.",
+    "Handle the rectangular gray microwave and open it with the left arm.",
+    "Grab and pull the microwave for heating food using the left arm."
+  ],
+  "unseen": [
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls."
+  ]
+}
\ No newline at end of file
diff --git a/open_microwave/demo_diverse/scene_info.json b/open_microwave/demo_diverse/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0f5cdabff4e0f9bb0cb80d0a9fe0a46b6a7ec8f
--- /dev/null
+++ b/open_microwave/demo_diverse/scene_info.json
@@ -0,0 +1,1102 @@
+{
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+        "cluttered_table_info": [],
+        "texture_info": {
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+        "info": {
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+            "{a}": "left"
+        }
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+        "texture_info": {
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+            "wall_texture": "seen/1799",
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--- /dev/null
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