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adjust_bottle/demo_diverse/instructions/episode20.json

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

adjust_bottle/demo_diverse/instructions/episode25.json

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

adjust_bottle/demo_diverse/instructions/episode31.json

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

adjust_bottle/demo_diverse/instructions/episode34.json

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

adjust_bottle/demo_diverse/instructions/episode37.json

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

adjust_bottle/demo_diverse/instructions/episode45.json

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

adjust_bottle/demo_diverse/instructions/episode59.json

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

adjust_bottle/demo_diverse/instructions/episode61.json

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

adjust_bottle/demo_diverse/instructions/episode75.json

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

adjust_bottle/demo_diverse/instructions/episode80.json

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

adjust_bottle/demo_diverse/instructions/episode97.json

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

adjust_bottle/demo_diverse/scene_info.json

@@ -0,0 +1,1102 @@
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+        "cluttered_table_info": [],
+        "texture_info": {
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+            "table_texture": "seen/6412"
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+    "episode_39": {
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adjust_bottle/demo_diverse/seed.txt

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+        }
+    },
+    "episode_79": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/6992",
+            "table_texture": "seen/4060"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_80": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/1000",
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_81": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/9237",
+            "table_texture": "seen/2760"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_82": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/8243",
+            "table_texture": "seen/2171"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_83": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/2821",
+            "table_texture": "seen/4069"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_84": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/4837",
+            "table_texture": "seen/8240"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_85": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/1949",
+            "table_texture": "seen/4729"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_86": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/1649",
+            "table_texture": "seen/5425"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_87": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/8194",
+            "table_texture": "seen/2840"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_88": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/8499",
+            "table_texture": "seen/275"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_89": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/111",
+            "table_texture": "seen/3481"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_90": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/2505",
+            "table_texture": "seen/8127"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_91": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/4214",
+            "table_texture": "seen/8195"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_92": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/7084",
+            "table_texture": "seen/5659"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_93": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/2830",
+            "table_texture": "seen/7033"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_94": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/8928",
+            "table_texture": "seen/3760"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_95": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/573",
+            "table_texture": "seen/1451"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_96": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/2196",
+            "table_texture": "seen/1355"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_97": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/1384",
+            "table_texture": "seen/7383"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_98": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/1902",
+            "table_texture": "seen/8264"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_99": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": "seen/2447",
+            "table_texture": "seen/9788"
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    }
+}

beat_block_hammer/demo_diverse/seed.txt

@@ -0,0 +1 @@
+0 2 4 5 7 9 11 12 13 14 16 18 19 20 23 25 26 27 29 30 31 32 34 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 57 59 61 62 63 64 65 66 67 68 69 72 74 75 76 77 79 81 82 83 84 85 86 87 88 89 90 91 92 93 95 96 97 98 99 100 101 103 104 105 107 108 110 111 112 113 114 115 117 119 122 123 124 126 128 130 131 132 133 134 135 136 

click_bell/demo_diverse/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Guide the left arm to click the simple hand bell with black stand's top center.",
+    "Use the left arm to touch the white bell's top center.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Ask the left arm to interact with the white bell's top.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Push the center of the white bell using the left arm.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Use the left arm to press the white and black colored bell's top section.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Locate the white dome bell and click its top center.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Press the center top of the small desk bell for tapping.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Direct the left arm to touch the bell with black flat base's top.",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Click the designated center of the white and black colored bell.",
+    "Press the white bell's top center on the table.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Press down the top of the white bell using the left arm.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Tap the top center of the small desk bell for tapping.",
+    "Pinpoint the white bell and click its top center.",
+    "Command the left arm to press the rounded bell with flat black part's top.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Use the left arm to touch the white bell's top center.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Press the specified top area of the white bell.",
+    "Push the center of the bell with black flat base using the left arm.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Use the left arm to press the simple hand bell with black stand's top section.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Tap the white bell's top center with the left arm.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Have the left arm click at the simple hand bell with black stand's top center.",
+    "Press the top center of the white bell on table.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Press the center of the white and black colored bell using the left arm.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Press down the white dome bell's top center gently.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Click the designated center of the white bell with black bottom.",
+    "Press the white dome bell's top center on the table.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Press down the top of the white and black colored bell using the left arm.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Tap the top center of the white dome bell.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Command the left arm to press the bell with black flat base's top.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Guide the left arm to click the simple hand bell with black stand's top center.",
+    "Use the left arm to touch the small desk bell for tapping's top center.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Click the top center of the white bell on table.",
+    "Ask the left arm to interact with the bell shaped like half-circle dome's top.",
+    "Press the specified top area of the white bell.",
+    "Push the center of the white and black colored bell using the left arm.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Click using the left arm on the bell with black flat base's center.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Press the top center of the white dome bell on table.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Press the center top of the white and black colored bell.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Press the small desk bell for tapping's top center with the left arm firmly.",
+    "Click the designated center of the white bell with black bottom.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Press down the top of the white and black colored bell using the left arm.",
+    "Click the white dome bell's top center using the left arm.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Command the left arm to press the compact tabletop bell's top.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Direct the left arm to click the top of the plastic and metal bell.",
+    "Click the top center of the white dome bell on table.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top."
+  ],
+  "unseen": [
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to touch the round bell's top center.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Use the left arm to press the bell with protruding knob's top section.",
+    "Click using the left arm on the bell with circular body's center.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Press the specified top area of the bell with brown base.",
+    "Direct the left arm to touch the small blue and brown bell's top.",
+    "Click the smooth blue bell's top center using the left arm.",
+    "Press the blue dome-shaped bell's top center with the left arm firmly.",
+    "Press the blue bell's top center on the table.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Locate the bell with circular body and click its top center.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Guide the left arm to click the small blue and brown bell's top center.",
+    "Click the designated center of the compact bell with round base.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Click the bell with brown base at its top center on table.",
+    "Press down the top of the bell with brown base using the left arm.",
+    "Press the center top of the blue bell.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Click the brown-bottomed bell's <top center> using the left arm",
+    "Direct the left arm to click the top of the smooth blue bell.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Push the center of the bell with circular body using the left arm.",
+    "Tap the round bell's top center with the left arm.",
+    "Command the left arm to press the bell with brown base's top.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Press the top center of the smooth blue bell on table.",
+    "Tap the top center of the bell with protruding knob.",
+    "Have the left arm click at the small blue and brown bell's top center.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Use the left arm to touch the brown-bottomed bell's top center.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Use the left arm to press the flat-topped bell's top section.",
+    "Click using the left arm on the brown-bottomed bell's center.",
+    "Click the top center of the smooth blue bell on table.",
+    "Press the specified top area of the round bell.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Press the small blue and brown bell's top center with the left arm firmly.",
+    "Press the compact bell with round base's top center on the table.",
+    "Make the left arm interact with the blue dome-shaped bell's top center.",
+    "Locate the round bell and click its top center.",
+    "Push the bell with circular body's <top center> on the table",
+    "Guide the left arm to click the round bell's top center.",
+    "Click the designated center of the compact bell with round base.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Press down the top of the small blue and brown bell using the left arm.",
+    "Press the center top of the smooth blue bell.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Click the smooth blue bell's <top center> using the left arm",
+    "Direct the left arm to click the top of the smooth blue bell.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Push the center of the brown-bottomed bell using the left arm.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Command the left arm to press the compact bell with round base's top.",
+    "Press the center of the blue bell using the left arm.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Tap the top center of the flat-topped bell.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Ask the left arm to interact with the round bell's top.",
+    "Use the left arm to touch the metal bell with plastic parts's top center.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Use the left arm to press the small blue and brown bell's top section.",
+    "Click using the left arm on the flat-topped bell's center.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Press the specified top area of the blue bell.",
+    "Direct the left arm to touch the bell with circular body's top.",
+    "Click the bell with brown base's top center using the left arm.",
+    "Press the brown-bottomed bell's top center with the left arm firmly.",
+    "Press the smooth blue bell's top center on the table.",
+    "Make the left arm interact with the bell with circular body's top center.",
+    "Locate the smooth blue bell and click its top center.",
+    "Push the blue bell's <top center> on the table",
+    "Guide the left arm to click the blue bell's top center.",
+    "Click the designated center of the bell with circular body.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Click the bell with circular body at its top center on table.",
+    "Press down the top of the metal bell with plastic parts using the left arm.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Click the bell with protruding knob's <top center> using the left arm",
+    "Direct the left arm to click the top of the metal bell with plastic parts.",
+    "Press down the flat-topped bell's top center gently.",
+    "Push the center of the blue dome-shaped bell using the left arm.",
+    "Tap the blue bell's top center with the left arm.",
+    "Command the left arm to press the bell with protruding knob's top.",
+    "Press the center of the metal bell with plastic parts using the left arm.",
+    "Press the top center of the bell with circular body on table.",
+    "Tap the top center of the compact bell with round base.",
+    "Have the left arm click at the flat-topped bell's top center.",
+    "Ask the left arm to interact with the flat-topped bell's top.",
+    "Use the left arm to touch the compact bell with round base's top center.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Use the left arm to press the metal bell with plastic parts's top section.",
+    "Click using the left arm on the compact bell with round base's center.",
+    "Click the top center of the compact bell with round base on table.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Direct the left arm to touch the smooth blue bell's top."
+  ],
+  "unseen": [
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to press the white dome bell's top section.",
+    "Make the right arm interact with the white bell with black bottom's top center.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Ask the right arm to interact with the bell with black flat base's top.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Press the bell with metallic top and plastic base's top center with the right arm firmly.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Use the right arm to touch the small desk bell for tapping's top center.",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Click using the right arm on the bell with black flat base's center.",
+    "Direct the right arm to touch the simple hand bell with black stand's top.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Click the white dome bell's <top center> using the right arm",
+    "Tap the top center of the compact tabletop bell.",
+    "Click the designated center of the white and black colored bell.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Command the right arm to press the white bell's top.",
+    "Push the center of the bell with metallic top and plastic base using the right arm.",
+    "Click the white dome bell at its top center on table.",
+    "Click the plastic and metal bell's top center using the right arm.",
+    "Press down the top of the bell with metallic top and plastic base using the right arm.",
+    "Have the right arm click at the bell shaped like half-circle dome's top center.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Press the center of the bell with black flat base using the right arm.",
+    "Direct the right arm to click the top of the bell with black flat base.",
+    "Press down the white dome bell's top center gently.",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Make the right arm interact with the white bell with black bottom's top center.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Ask the right arm to interact with the white bell with black bottom's top.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Press the white dome bell's top center on the table.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Locate the white and black colored bell and click its top center.",
+    "Press the white bell with black bottom's top center with the right arm firmly.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Use the right arm to touch the white bell's top center.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Click using the right arm on the simple hand bell with black stand's center.",
+    "Direct the right arm to touch the white and black colored bell's top.",
+    "Press the center top of the white dome bell.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Click the plastic and metal bell's <top center> using the right arm",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Click the designated center of the compact tabletop bell.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Push the center of the bell with black flat base using the right arm.",
+    "Click the white and black colored bell at its top center on table.",
+    "Click the plastic and metal bell's top center using the right arm.",
+    "Press down the top of the white bell using the right arm.",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Press the center of the bell shaped like half-circle dome using the right arm.",
+    "Direct the right arm to click the top of the white bell.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Use the right arm to press the white dome bell's top section.",
+    "Make the right arm interact with the bell shaped like half-circle dome's top center.",
+    "Press the top center of the bell with black flat base on table.",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Press the white dome bell's top center with the right arm firmly.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Use the right arm to touch the bell shaped like half-circle dome's top center.",
+    "Guide the right arm to click the rounded bell with flat black part's top center.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Direct the right arm to touch the small desk bell for tapping's top.",
+    "Press the center top of the plastic and metal bell.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Click the simple hand bell with black stand's <top center> using the right arm",
+    "Tap the top center of the bell with black flat base.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Command the right arm to press the compact tabletop bell's top.",
+    "Push the center of the white and black colored bell using the right arm.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Click the small desk bell for tapping's top center using the right arm.",
+    "Press down the top of the white bell using the right arm.",
+    "Have the right arm click at the bell shaped like half-circle dome's top center.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Direct the right arm to click the top of the plastic and metal bell.",
+    "Press down the white dome bell's top center gently.",
+    "Use the right arm to press the small desk bell for tapping's top section.",
+    "Make the right arm interact with the white dome bell's top center.",
+    "Press the top center of the bell with black flat base on table.",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Press the white dome bell's top center on the table.",
+    "Tap the rounded bell with flat black part's top center with the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press down the white bell's top center gently.",
+    "Guide the left arm to click the bell shaped like half-circle dome's top center.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Click the top center of the bell with black flat base on table.",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Press down the top of the bell with black flat base using the left arm.",
+    "Locate the white dome bell and click its top center.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Use the left arm to press the white and black colored bell's top section.",
+    "Click the designated center of the white and black colored bell.",
+    "Press the specified top area of the bell with black flat base.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Click the white bell's <top center> using the left arm",
+    "Tap the white dome bell's top center with the left arm.",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Direct the left arm to click the top of the white bell with black bottom.",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Press the top center of the white dome bell on table.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Press the center of the plastic and metal bell using the left arm.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Make the left arm interact with the white dome bell's top center.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Direct the left arm to touch the white and black colored bell's top.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Press the white bell with black bottom's top center with the left arm firmly.",
+    "Tap the white bell's top center with the left arm.",
+    "Use the left arm to touch the white bell's top center.",
+    "Use the left arm to press the compact tabletop bell's top section.",
+    "Click the designated center of the white bell with black bottom.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Click the compact tabletop bell's <top center> using the left arm",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Ask the left arm to interact with the bell shaped like half-circle dome's top.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Click using the left arm on the white bell's center.",
+    "Press the top center of the white dome bell on table.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Press the center of the white bell using the left arm.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Press the center top of the white and black colored bell.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Direct the left arm to touch the bell with metallic top and plastic base's top.",
+    "Click the top center of the bell with black flat base on table.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Command the left arm to press the simple hand bell with black stand's top.",
+    "Click the white bell's top center using the left arm.",
+    "Press down the top of the compact tabletop bell using the left arm.",
+    "Locate the white bell and click its top center.",
+    "Tap the top center of the plastic and metal bell.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Use the left arm to touch the white and black colored bell's top center.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Click the designated center of the bell with black flat base.",
+    "Press the specified top area of the white and black colored bell.",
+    "Have the left arm click at the bell shaped like half-circle dome's top center.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Click the bell shaped like half-circle dome's <top center> using the left arm",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Ask the left arm to interact with the white dome bell's top.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Click using the left arm on the bell with metallic top and plastic base's center.",
+    "Press the top center of the white and black colored bell on table.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Press the center of the small desk bell for tapping using the left arm.",
+    "Pinpoint the white bell and click its top center.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Make the left arm interact with the small desk bell for tapping's top center.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Guide the left arm to click the compact tabletop bell's top center.",
+    "Direct the left arm to touch the compact tabletop bell's top.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Push the center of the simple hand bell with black stand using the left arm.",
+    "Command the left arm to press the small desk bell for tapping's top.",
+    "Click the compact tabletop bell's top center using the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top."
+  ]
+}

click_bell/demo_diverse/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Ask the right arm to interact with the simple hand bell with black stand's top.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Guide the right arm to click the small desk bell for tapping's top center.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Click the designated center of the plastic and metal bell.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Command the right arm to press the white bell's top.",
+    "Click the simple hand bell with black stand's <top center> using the right arm",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Press down the top of the compact tabletop bell using the right arm.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Click the white and black colored bell's top center using the right arm.",
+    "Use the right arm to press the bell with metallic top and plastic base's top section.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Click the white bell at its top center on table.",
+    "Make the right arm interact with the compact tabletop bell's top center.",
+    "Click using the right arm on the white bell's center.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Press the center of the plastic and metal bell using the right arm.",
+    "Push the center of the white dome bell using the right arm.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Direct the right arm to touch the small desk bell for tapping's top.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Press the top center of the bell with black flat base on table.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Direct the right arm to click the top of the white bell with black bottom.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Have the right arm click at the white bell's top center.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Ask the right arm to interact with the bell with metallic top and plastic base's top.",
+    "Tap the top center of the white bell.",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Click the designated center of the compact tabletop bell.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Click the white bell's <top center> using the right arm",
+    "Press the specified top area of the white dome bell.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Press down the top of the simple hand bell with black stand using the right arm.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Click the bell with metallic top and plastic base's top center using the right arm.",
+    "Use the right arm to press the white bell's top section.",
+    "Press the bell with metallic top and plastic base's top center with the right arm firmly.",
+    "Click the white and black colored bell at its top center on table.",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Click using the right arm on the plastic and metal bell's center.",
+    "Use the right arm to touch the rounded bell with flat black part's top center.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Push the center of the small desk bell for tapping using the right arm.",
+    "Press down the white dome bell's top center gently.",
+    "Direct the right arm to touch the bell with metallic top and plastic base's top.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Direct the right arm to click the top of the white dome bell.",
+    "Press the center top of the white dome bell.",
+    "Have the right arm click at the small desk bell for tapping's top center.",
+    "Locate the white bell and click its top center.",
+    "Ask the right arm to interact with the white bell with black bottom's top.",
+    "Tap the top center of the white and black colored bell.",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Activate the white dome bell by pressing its top center.",
+    "Click the designated center of the plastic and metal bell.",
+    "Push the white dome bell's <top center> on the table",
+    "Command the right arm to press the compact tabletop bell's top.",
+    "Click the simple hand bell with black stand's <top center> using the right arm",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Press down the top of the small desk bell for tapping using the right arm.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Click the white bell's top center using the right arm.",
+    "Use the right arm to press the bell with metallic top and plastic base's top section.",
+    "Press the bell with black flat base's top center with the right arm firmly.",
+    "Click the white dome bell at its top center on table.",
+    "Make the right arm interact with the compact tabletop bell's top center.",
+    "Click using the right arm on the white dome bell's center.",
+    "Use the right arm to touch the small desk bell for tapping's top center.",
+    "Press the center of the white dome bell using the right arm.",
+    "Push the center of the simple hand bell with black stand using the right arm.",
+    "Press down the white and black colored bell's top center gently.",
+    "Direct the right arm to touch the compact tabletop bell's top.",
+    "Tap the white bell's top center with the right arm.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Press the top center of the white and black colored bell on table.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Direct the right arm to click the top of the white bell with black bottom.",
+    "Press the center top of the compact tabletop bell.",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Ask the right arm to interact with the bell with black flat base's top.",
+    "Tap the top center of the white bell with black bottom.",
+    "Guide the right arm to click the small desk bell for tapping's top center.",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Command the right arm to press the plastic and metal bell's top."
+  ],
+  "unseen": [
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the lightweight bell with smooth surface."
+  ]
+}

click_bell/demo_diverse/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Command the left arm to press the simple hand bell with black stand's top.",
+    "Have the left arm click at the rounded bell with flat black part's top center.",
+    "Tap the top center of the white and black colored bell.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Push the white dome bell's <top center> on the table",
+    "Press the top center of the white bell with black bottom on table.",
+    "Press the center top of the white bell.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Guide the left arm to click the white bell's top center.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Push the center of the white dome bell using the left arm.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Ask the left arm to interact with the white bell's top.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Click the top center of the bell with black flat base on table.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Press down the top of the small desk bell for tapping using the left arm.",
+    "Direct the left arm to touch the white dome bell's top.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Press down the white bell's top center gently.",
+    "Command the left arm to press the simple hand bell with black stand's top.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Use the left arm to press the white and black colored bell's top section.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Direct the left arm to click the top of the white bell.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Click the white bell at its top center on table.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Ask the left arm to interact with the white and black colored bell's top.",
+    "Click the bell with black flat base's <top center> using the left arm",
+    "Tap the white dome bell's top center with the left arm.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Click the simple hand bell with black stand's top center using the left arm.",
+    "Make the left arm interact with the plastic and metal bell's top center.",
+    "Click the top center of the white bell on table.",
+    "Locate the bell with black flat base and click its top center.",
+    "Press the bell with black flat base's top center on the table.",
+    "Press down the top of the compact tabletop bell using the left arm.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Use the left arm to touch the white dome bell's top center.",
+    "Press down the white bell's top center gently.",
+    "Command the left arm to press the white dome bell's top.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Tap the top center of the compact tabletop bell.",
+    "Use the left arm to press the bell with metallic top and plastic base's top section.",
+    "Push the white bell's <top center> on the table",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Press the center top of the white dome bell.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Direct the left arm to click the top of the small desk bell for tapping.",
+    "Click the designated center of the plastic and metal bell.",
+    "Push the center of the rounded bell with flat black part using the left arm.",
+    "Click the white bell at its top center on table.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Click using the left arm on the bell with metallic top and plastic base's center.",
+    "Ask the left arm to interact with the white bell with black bottom's top.",
+    "Click the bell with black flat base's <top center> using the left arm",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Press the center of the white dome bell using the left arm.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Click the top center of the white bell on table.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Press the white dome bell's top center on the table.",
+    "Press down the top of the white bell using the left arm.",
+    "Direct the left arm to touch the compact tabletop bell's top.",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Command the left arm to press the small desk bell for tapping's top.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Tap the top center of the small desk bell for tapping.",
+    "Use the left arm to press the simple hand bell with black stand's top section.",
+    "Push the simple hand bell with black stand's <top center> on the table"
+  ],
+  "unseen": [
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press down the flat-topped bell's top center gently.",
+    "Press down the top of the flat-topped bell using the right arm.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Guide the right arm to click the flat-topped bell's top center.",
+    "Tap the blue bell's top center with the right arm.",
+    "Push the center of the bell with circular body using the right arm.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Click the smooth blue bell at its top center on table.",
+    "Use the right arm to press the metal bell with plastic parts's top section.",
+    "Have the right arm click at the bell with brown base's top center.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Click the designated center of the flat-topped bell.",
+    "Ask the right arm to interact with the round bell's top.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Make the right arm interact with the bell with protruding knob's top center.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Press the center of the round bell using the right arm.",
+    "Command the right arm to press the small blue and brown bell's top.",
+    "Press the brown-bottomed bell's top center with the right arm firmly.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Press the center top of the round bell.",
+    "Click the top center of the round bell on table.",
+    "Tap the top center of the round bell.",
+    "Press the round bell's top center on the table.",
+    "Click using the right arm on the brown-bottomed bell's center.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Direct the right arm to touch the smooth blue bell's top.",
+    "Click the metal bell with plastic parts's top center using the right arm.",
+    "Use the right arm to touch the blue bell's top center.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Press down the top of the flat-topped bell using the right arm.",
+    "Locate the bell with circular body and click its top center.",
+    "Guide the right arm to click the bell with protruding knob's top center.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Push the center of the bell with circular body using the right arm.",
+    "Press the top center of the blue bell on table.",
+    "Click the blue bell at its top center on table.",
+    "Use the right arm to press the blue bell's top section.",
+    "Have the right arm click at the metal bell with plastic parts's top center.",
+    "Direct the right arm to click the top of the round bell.",
+    "Click the designated center of the smooth blue bell.",
+    "Ask the right arm to interact with the round bell's top.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Make the right arm interact with the flat-topped bell's top center.",
+    "Click the smooth blue bell's <top center> using the right arm",
+    "Press the center of the metal bell with plastic parts using the right arm.",
+    "Command the right arm to press the blue bell's top.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Press the center top of the bell with protruding knob.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Tap the top center of the compact bell with round base.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Click using the right arm on the brown-bottomed bell's center.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Direct the right arm to touch the smooth blue bell's top.",
+    "Click the metal bell with plastic parts's top center using the right arm.",
+    "Use the right arm to touch the bell with protruding knob's top center.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Press down the flat-topped bell's top center gently.",
+    "Press down the top of the bell with brown base using the right arm.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Guide the right arm to click the bell with circular body's top center.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Push the center of the metal bell with plastic parts using the right arm.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Click the bell with circular body at its top center on table.",
+    "Use the right arm to press the flat-topped bell's top section.",
+    "Have the right arm click at the round bell's top center.",
+    "Direct the right arm to click the top of the bell with circular body.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Ask the right arm to interact with the bell with protruding knob's top.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Make the right arm interact with the bell with protruding knob's top center.",
+    "Click the metal bell with plastic parts's <top center> using the right arm",
+    "Press the center of the small blue and brown bell using the right arm.",
+    "Command the right arm to press the bell with circular body's top.",
+    "Press the flat-topped bell's top center with the right arm firmly.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Press the center top of the metal bell with plastic parts.",
+    "Click the top center of the round bell on table.",
+    "Tap the top center of the bell with circular body.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Activate the round bell by pressing its top center.",
+    "Direct the right arm to touch the blue dome-shaped bell's top.",
+    "Click the small blue and brown bell's top center using the right arm.",
+    "Use the right arm to touch the compact bell with round base's top center.",
+    "Pinpoint the blue bell and click its top center.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Press down the top of the round bell using the right arm.",
+    "Locate the blue bell and click its top center.",
+    "Guide the right arm to click the blue bell's top center.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Push the center of the round bell using the right arm.",
+    "Press the top center of the blue bell on table."
+  ],
+  "unseen": [
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press down the top of the small desk bell for tapping using the left arm.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Command the left arm to press the compact tabletop bell's top.",
+    "Press the center of the white dome bell using the left arm.",
+    "Tap the top center of the white and black colored bell.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press the top center of the white bell on table.",
+    "Click the plastic and metal bell's top center using the left arm.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Ask the left arm to interact with the bell with black flat base's top.",
+    "Click the designated center of the white and black colored bell.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Direct the left arm to click the top of the small desk bell for tapping.",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Press the specified top area of the white dome bell.",
+    "Press down the white dome bell's top center gently.",
+    "Push the center of the bell with black flat base using the left arm.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Use the left arm to touch the white and black colored bell's top center.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Press the plastic and metal bell's top center with the left arm firmly.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Direct the left arm to touch the white bell's top.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Press down the top of the simple hand bell with black stand using the left arm.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Command the left arm to press the simple hand bell with black stand's top.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Ask the left arm to interact with the compact tabletop bell's top.",
+    "Click the designated center of the white bell with black bottom.",
+    "Use the left arm to press the small desk bell for tapping's top section.",
+    "Direct the left arm to click the top of the white bell.",
+    "Click using the left arm on the white bell with black bottom's center.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Click the white bell at its top center on table.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Press the white bell's top center with the left arm firmly.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Press down the top of the white bell with black bottom using the left arm.",
+    "Press the center top of the white bell.",
+    "Command the left arm to press the plastic and metal bell's top.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Activate the white dome bell by pressing its top center.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Click the white dome bell's top center using the left arm.",
+    "Press the white bell's top center on the table.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Ask the left arm to interact with the white bell's top.",
+    "Click the designated center of the plastic and metal bell.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Have the left arm click at the white bell with black bottom's top center.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Push the center of the white dome bell using the left arm.",
+    "Locate the white bell and click its top center.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Click the top center of the bell with black flat base on table.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Use the left arm to touch the white bell with black bottom's top center.",
+    "Push the white dome bell's <top center> on the table",
+    "Press the small desk bell for tapping's top center with the left arm firmly.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Direct the left arm to touch the white bell's top.",
+    "Make the left arm interact with the plastic and metal bell's top center.",
+    "Press down the top of the simple hand bell with black stand using the left arm.",
+    "Press the center top of the small desk bell for tapping.",
+    "Command the left arm to press the plastic and metal bell's top.",
+    "Press the center of the white bell using the left arm.",
+    "Tap the top center of the compact tabletop bell.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Press the top center of the white bell with black bottom on table."
+  ],
+  "unseen": [
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode20.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the bell with circular body's <top center> on the table",
+    "Ask the right arm to interact with the compact bell with round base's top.",
+    "Press the specified top area of the smooth blue bell.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Use the right arm to touch the smooth blue bell's top center.",
+    "Locate the blue bell and click its top center.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Press down the bell with circular body's top center gently.",
+    "Have the right arm click at the smooth blue bell's top center.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Use the right arm to press the round bell's top section.",
+    "Tap the top center of the bell with circular body.",
+    "Click using the right arm on the blue dome-shaped bell's center.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Make the right arm interact with the blue dome-shaped bell's top center.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Press the center of the blue bell using the right arm.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Direct the right arm to click the top of the bell with protruding knob.",
+    "Guide the right arm to click the smooth blue bell's top center.",
+    "Direct the right arm to touch the bell with protruding knob's top.",
+    "Press down the top of the blue dome-shaped bell using the right arm.",
+    "Press the compact bell with round base's top center with the right arm firmly.",
+    "Press the center top of the compact bell with round base.",
+    "Push the center of the metal bell with plastic parts using the right arm.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Click the small blue and brown bell's top center using the right arm.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Ask the right arm to interact with the small blue and brown bell's top.",
+    "Press the specified top area of the bell with circular body.",
+    "Press the bell with circular body's top center on the table.",
+    "Use the right arm to touch the small blue and brown bell's top center.",
+    "Locate the bell with circular body and click its top center.",
+    "Click the bell with brown base at its top center on table.",
+    "Click the bell with circular body's <top center> using the right arm",
+    "Command the right arm to press the smooth blue bell's top.",
+    "Press down the bell with brown base's top center gently.",
+    "Have the right arm click at the flat-topped bell's top center.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Use the right arm to press the bell with brown base's top section.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Click using the right arm on the blue dome-shaped bell's center.",
+    "Click the top center of the blue bell on table.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Make the right arm interact with the round bell's top center.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Press the center of the bell with protruding knob using the right arm.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Direct the right arm to click the top of the flat-topped bell.",
+    "Guide the right arm to click the smooth blue bell's top center.",
+    "Direct the right arm to touch the blue dome-shaped bell's top.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Press the flat-topped bell's top center with the right arm firmly.",
+    "Press the center top of the metal bell with plastic parts.",
+    "Push the center of the smooth blue bell using the right arm.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Ask the right arm to interact with the compact bell with round base's top.",
+    "Press the specified top area of the round bell.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Use the right arm to touch the bell with protruding knob's top center.",
+    "Locate the compact bell with round base and click its top center.",
+    "Click the flat-topped bell at its top center on table.",
+    "Click the blue bell's <top center> using the right arm",
+    "Command the right arm to press the metal bell with plastic parts's top.",
+    "Press down the round bell's top center gently.",
+    "Have the right arm click at the blue dome-shaped bell's top center.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Use the right arm to press the smooth blue bell's top section.",
+    "Tap the top center of the bell with protruding knob.",
+    "Click using the right arm on the bell with protruding knob's center.",
+    "Click the top center of the blue bell on table.",
+    "Press the top center of the smooth blue bell on table.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Press the center of the metal bell with plastic parts using the right arm.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Direct the right arm to click the top of the bell with protruding knob.",
+    "Guide the right arm to click the flat-topped bell's top center.",
+    "Direct the right arm to touch the bell with protruding knob's top.",
+    "Press down the top of the blue dome-shaped bell using the right arm.",
+    "Press the bell with circular body's top center with the right arm firmly.",
+    "Press the center top of the small blue and brown bell.",
+    "Push the center of the bell with protruding knob using the right arm.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Click the bell with brown base's top center using the right arm.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Ask the right arm to interact with the bell with brown base's top.",
+    "Press the specified top area of the round bell.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Use the right arm to touch the brown-bottomed bell's top center.",
+    "Locate the bell with brown base and click its top center.",
+    "Click the bell with circular body at its top center on table."
+  ],
+  "unseen": [
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode21.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Press the specified top area of the bell with brown base.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Click using the right arm on the bell with circular body's center.",
+    "Command the right arm to press the metal bell with plastic parts's top.",
+    "Click the designated center of the compact bell with round base.",
+    "Direct the right arm to touch the small blue and brown bell's top.",
+    "Locate the flat-topped bell and click its top center.",
+    "Direct the right arm to click the top of the smooth blue bell.",
+    "Press the center top of the brown-bottomed bell.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Use the right arm to press the small blue and brown bell's top section.",
+    "Guide the right arm to click the blue dome-shaped bell's top center.",
+    "Press the center of the small blue and brown bell using the right arm.",
+    "Make the right arm interact with the brown-bottomed bell's top center.",
+    "Have the right arm click at the blue bell's top center.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Press down the top of the bell with brown base using the right arm.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Press the metal bell with plastic parts's top center with the right arm firmly.",
+    "Use the right arm to touch the bell with circular body's top center.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Activate the blue dome-shaped bell by pressing its top center.",
+    "Click the top center of the flat-topped bell on table.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Press the specified top area of the compact bell with round base.",
+    "Push the round bell's <top center> on the table",
+    "Click using the right arm on the brown-bottomed bell's center.",
+    "Command the right arm to press the bell with circular body's top.",
+    "Click the designated center of the compact bell with round base.",
+    "Direct the right arm to touch the compact bell with round base's top.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Direct the right arm to click the top of the smooth blue bell.",
+    "Press the center top of the bell with circular body.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Use the right arm to press the brown-bottomed bell's top section.",
+    "Guide the right arm to click the flat-topped bell's top center.",
+    "Press the center of the blue bell using the right arm.",
+    "Make the right arm interact with the compact bell with round base's top center.",
+    "Have the right arm click at the brown-bottomed bell's top center.",
+    "Tap the top center of the blue bell.",
+    "Pinpoint the blue bell and click its top center.",
+    "Ask the right arm to interact with the small blue and brown bell's top.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Press the smooth blue bell's top center on the table.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Press the small blue and brown bell's top center with the right arm firmly.",
+    "Use the right arm to touch the round bell's top center.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Push the center of the brown-bottomed bell using the right arm.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Click the round bell's <top center> using the right arm",
+    "Activate the bell with brown base by pressing its top center.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Tap the round bell's top center with the right arm.",
+    "Press the specified top area of the round bell.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Click using the right arm on the compact bell with round base's center.",
+    "Command the right arm to press the bell with brown base's top.",
+    "Click the designated center of the blue bell.",
+    "Direct the right arm to touch the compact bell with round base's top.",
+    "Locate the round bell and click its top center.",
+    "Direct the right arm to click the top of the small blue and brown bell.",
+    "Press the center top of the brown-bottomed bell.",
+    "Click the blue bell's top center using the right arm.",
+    "Use the right arm to press the blue bell's top section.",
+    "Guide the right arm to click the bell with circular body's top center.",
+    "Press the center of the blue bell using the right arm.",
+    "Make the right arm interact with the bell with protruding knob's top center.",
+    "Have the right arm click at the small blue and brown bell's top center.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Ask the right arm to interact with the brown-bottomed bell's top.",
+    "Press down the top of the smooth blue bell using the right arm.",
+    "Tap the round bell's top center with the right arm.",
+    "Press the bell with brown base's top center on the table.",
+    "Press the top center of the flat-topped bell on table.",
+    "Press the small blue and brown bell's top center with the right arm firmly.",
+    "Use the right arm to touch the flat-topped bell's top center.",
+    "Click the bell with brown base at its top center on table.",
+    "Push the center of the bell with protruding knob using the right arm.",
+    "Press down the compact bell with round base's top center gently.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Activate the round bell by pressing its top center.",
+    "Click the top center of the blue bell on table.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Press the specified top area of the smooth blue bell.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Click using the right arm on the compact bell with round base's center.",
+    "Command the right arm to press the brown-bottomed bell's top.",
+    "Click the designated center of the bell with circular body.",
+    "Direct the right arm to touch the round bell's top."
+  ],
+  "unseen": [
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top."
+  ]
+}

click_bell/demo_diverse/instructions/episode25.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the designated center of the round bell.",
+    "Direct the right arm to touch the bell with circular body's top.",
+    "Click the flat-topped bell's <top center> using the right arm",
+    "Have the right arm click at the bell with protruding knob's top center.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Click the top center of the bell with brown base on table.",
+    "Click the bell with circular body at its top center on table.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Use the right arm to touch the compact bell with round base's top center.",
+    "Press the blue bell's top center with the right arm firmly.",
+    "Ask the right arm to interact with the flat-topped bell's top.",
+    "Activate the round bell by pressing its top center.",
+    "Direct the right arm to click the top of the brown-bottomed bell.",
+    "Click the blue bell's top center using the right arm.",
+    "Make the right arm interact with the smooth blue bell's top center.",
+    "Press down the top of the round bell using the right arm.",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Push the center of the compact bell with round base using the right arm.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Press down the bell with brown base's top center gently.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Press the top center of the blue bell on table.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Press the center top of the flat-topped bell.",
+    "Click using the right arm on the bell with circular body's center.",
+    "Press the center of the compact bell with round base using the right arm.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Tap the top center of the compact bell with round base.",
+    "Locate the smooth blue bell and click its top center.",
+    "Guide the right arm to click the bell with circular body's top center.",
+    "Click the designated center of the flat-topped bell.",
+    "Direct the right arm to touch the smooth blue bell's top.",
+    "Click the bell with protruding knob's <top center> using the right arm",
+    "Have the right arm click at the round bell's top center.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Click the top center of the round bell on table.",
+    "Click the round bell at its top center on table.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Use the right arm to touch the brown-bottomed bell's top center.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Ask the right arm to interact with the compact bell with round base's top.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Direct the right arm to click the top of the smooth blue bell.",
+    "Click the flat-topped bell's top center using the right arm.",
+    "Make the right arm interact with the metal bell with plastic parts's top center.",
+    "Press down the top of the flat-topped bell using the right arm.",
+    "Command the right arm to press the small blue and brown bell's top.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Use the right arm to press the metal bell with plastic parts's top section.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Press the top center of the bell with circular body on table.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Press the center top of the bell with brown base.",
+    "Click using the right arm on the blue dome-shaped bell's center.",
+    "Press the center of the small blue and brown bell using the right arm.",
+    "Press the specified top area of the flat-topped bell.",
+    "Tap the top center of the bell with circular body.",
+    "Locate the flat-topped bell and click its top center.",
+    "Guide the right arm to click the bell with brown base's top center.",
+    "Click the designated center of the bell with circular body.",
+    "Direct the right arm to touch the flat-topped bell's top.",
+    "Click the metal bell with plastic parts's <top center> using the right arm",
+    "Have the right arm click at the round bell's top center.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Click the top center of the bell with circular body on table.",
+    "Click the bell with brown base at its top center on table.",
+    "Tap the blue bell's top center with the right arm.",
+    "Use the right arm to touch the bell with brown base's top center.",
+    "Press the bell with brown base's top center with the right arm firmly.",
+    "Ask the right arm to interact with the blue dome-shaped bell's top.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Direct the right arm to click the top of the flat-topped bell.",
+    "Click the small blue and brown bell's top center using the right arm.",
+    "Make the right arm interact with the brown-bottomed bell's top center.",
+    "Press down the top of the bell with brown base using the right arm.",
+    "Command the right arm to press the round bell's top.",
+    "Push the center of the metal bell with plastic parts using the right arm.",
+    "Use the right arm to press the round bell's top section.",
+    "Press down the compact bell with round base's top center gently.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Press the compact bell with round base's top center on the table.",
+    "Press the top center of the compact bell with round base on table.",
+    "Push the blue bell's <top center> on the table",
+    "Press the center top of the small blue and brown bell.",
+    "Click using the right arm on the compact bell with round base's center.",
+    "Press the center of the smooth blue bell using the right arm.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Tap the top center of the compact bell with round base.",
+    "Locate the bell with circular body and click its top center.",
+    "Guide the right arm to click the bell with brown base's top center.",
+    "Click the designated center of the smooth blue bell.",
+    "Direct the right arm to touch the bell with circular body's top.",
+    "Click the blue bell's <top center> using the right arm",
+    "Have the right arm click at the bell with protruding knob's top center.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Click the top center of the blue dome-shaped bell on table.",
+    "Click the bell with brown base at its top center on table."
+  ],
+  "unseen": [
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode27.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the white bell by pressing its top center.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Click using the right arm on the white bell with black bottom's center.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Push the center of the plastic and metal bell using the right arm.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Make the right arm interact with the rounded bell with flat black part's top center.",
+    "Direct the right arm to touch the white bell's top.",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Locate the bell with black flat base and click its top center.",
+    "Click the designated center of the white bell.",
+    "Have the right arm click at the small desk bell for tapping's top center.",
+    "Click the white bell's <top center> using the right arm",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Command the right arm to press the white bell with black bottom's top.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Ask the right arm to interact with the simple hand bell with black stand's top.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Press down the top of the white dome bell using the right arm.",
+    "Press the rounded bell with flat black part's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the white and black colored bell.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Tap the top center of the compact tabletop bell.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Click the white dome bell's top center using the right arm.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Push the center of the bell with black flat base using the right arm.",
+    "Press the plastic and metal bell's top center on the table.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Direct the right arm to touch the rounded bell with flat black part's top.",
+    "Tap the white bell's top center with the right arm.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Have the right arm click at the white bell's top center.",
+    "Click the plastic and metal bell's <top center> using the right arm",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Command the right arm to press the bell with black flat base's top.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Guide the right arm to click the simple hand bell with black stand's top center.",
+    "Ask the right arm to interact with the white dome bell's top.",
+    "Press the center of the white dome bell using the right arm.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Press down the top of the white dome bell using the right arm.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the white dome bell.",
+    "Use the right arm to touch the small desk bell for tapping's top center.",
+    "Press the top center of the compact tabletop bell on table.",
+    "Use the right arm to press the small desk bell for tapping's top section.",
+    "Tap the top center of the white bell.",
+    "Press the center top of the bell with black flat base.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Click using the right arm on the simple hand bell with black stand's center.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Push the center of the bell with metallic top and plastic base using the right arm.",
+    "Press the white and black colored bell's top center on the table.",
+    "Make the right arm interact with the bell shaped like half-circle dome's top center.",
+    "Direct the right arm to touch the simple hand bell with black stand's top.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Click the designated center of the white bell with black bottom.",
+    "Have the right arm click at the simple hand bell with black stand's top center.",
+    "Click the white bell's <top center> using the right arm",
+    "Press down the white bell's top center gently.",
+    "Command the right arm to press the rounded bell with flat black part's top.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Guide the right arm to click the simple hand bell with black stand's top center.",
+    "Ask the right arm to interact with the plastic and metal bell's top.",
+    "Press the center of the plastic and metal bell using the right arm.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Press down the top of the rounded bell with flat black part using the right arm.",
+    "Press the white bell's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the plastic and metal bell.",
+    "Use the right arm to touch the white and black colored bell's top center.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Use the right arm to press the white bell's top section.",
+    "Tap the top center of the white bell with black bottom.",
+    "Press the center top of the white dome bell.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Click using the right arm on the white bell with black bottom's center.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Push the center of the compact tabletop bell using the right arm.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Make the right arm interact with the white bell's top center."
+  ],
+  "unseen": [
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table."
+  ]
+}

click_bell/demo_diverse/instructions/episode28.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Guide the right arm to click the blue dome-shaped bell's top center.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Locate the smooth blue bell and click its top center.",
+    "Press the bell with brown base's top center with the right arm firmly.",
+    "Press the center of the flat-topped bell using the right arm.",
+    "Use the right arm to touch the flat-topped bell's top center.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Press down the bell with circular body's top center gently.",
+    "Command the right arm to press the small blue and brown bell's top.",
+    "Direct the right arm to click the top of the blue dome-shaped bell.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Press the center top of the blue bell.",
+    "Press the bell with brown base's top center on the table.",
+    "Click the bell with brown base's top center using the right arm.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Direct the right arm to touch the round bell's top.",
+    "Make the right arm interact with the flat-topped bell's top center.",
+    "Ask the right arm to interact with the blue bell's top.",
+    "Pinpoint the blue bell and click its top center.",
+    "Tap the top center of the bell with brown base.",
+    "Click the bell with circular body at its top center on table.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Have the right arm click at the blue dome-shaped bell's top center.",
+    "Click using the right arm on the smooth blue bell's center.",
+    "Push the center of the bell with brown base using the right arm.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Click the blue bell's <top center> using the right arm",
+    "Push the compact bell with round base's <top center> on the table",
+    "Guide the right arm to click the blue bell's top center.",
+    "Click the top center of the bell with brown base on table.",
+    "Press the top center of the flat-topped bell on table.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Press the flat-topped bell's top center with the right arm firmly.",
+    "Press the center of the bell with brown base using the right arm.",
+    "Use the right arm to touch the small blue and brown bell's top center.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Press down the flat-topped bell's top center gently.",
+    "Command the right arm to press the metal bell with plastic parts's top.",
+    "Direct the right arm to click the top of the small blue and brown bell.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Use the right arm to press the metal bell with plastic parts's top section.",
+    "Press the center top of the bell with brown base.",
+    "Press the flat-topped bell's top center on the table.",
+    "Click the smooth blue bell's top center using the right arm.",
+    "Tap the round bell's top center with the right arm.",
+    "Direct the right arm to touch the round bell's top.",
+    "Make the right arm interact with the blue bell's top center.",
+    "Ask the right arm to interact with the small blue and brown bell's top.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Tap the top center of the blue bell.",
+    "Click the blue bell at its top center on table.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Have the right arm click at the round bell's top center.",
+    "Click using the right arm on the small blue and brown bell's center.",
+    "Push the center of the smooth blue bell using the right arm.",
+    "Press the specified top area of the compact bell with round base.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Click the bell with protruding knob's <top center> using the right arm",
+    "Push the compact bell with round base's <top center> on the table",
+    "Guide the right arm to click the flat-topped bell's top center.",
+    "Click the top center of the bell with brown base on table.",
+    "Press the top center of the bell with circular body on table.",
+    "Locate the blue bell and click its top center.",
+    "Press the blue dome-shaped bell's top center with the right arm firmly.",
+    "Press the center of the brown-bottomed bell using the right arm.",
+    "Use the right arm to touch the bell with circular body's top center.",
+    "Click the designated center of the blue bell.",
+    "Press down the blue bell's top center gently.",
+    "Command the right arm to press the compact bell with round base's top.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Use the right arm to press the metal bell with plastic parts's top section.",
+    "Press the center top of the flat-topped bell.",
+    "Press the round bell's top center on the table.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Direct the right arm to touch the brown-bottomed bell's top.",
+    "Make the right arm interact with the metal bell with plastic parts's top center.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Press down the top of the bell with brown base using the right arm.",
+    "Have the right arm click at the flat-topped bell's top center.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Push the center of the blue bell using the right arm.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Activate the blue bell by pressing its top center.",
+    "Click the metal bell with plastic parts's <top center> using the right arm",
+    "Push the flat-topped bell's <top center> on the table",
+    "Guide the right arm to click the small blue and brown bell's top center.",
+    "Click the top center of the bell with brown base on table.",
+    "Press the top center of the blue bell on table.",
+    "Locate the round bell and click its top center.",
+    "Press the blue bell's top center with the right arm firmly.",
+    "Press the center of the blue dome-shaped bell using the right arm.",
+    "Use the right arm to touch the blue bell's top center."
+  ],
+  "unseen": [
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top."
+  ]
+}

click_bell/demo_diverse/instructions/episode30.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pinpoint the bell with circular body and click its top center.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Click the designated center of the compact bell with round base.",
+    "Press the flat-topped bell's top center on the table.",
+    "Locate the bell with circular body and click its top center.",
+    "Click the top center of the compact bell with round base on table.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Push the center of the bell with brown base using the left arm.",
+    "Tap the top center of the bell with circular body.",
+    "Press down the round bell's top center gently.",
+    "Press the center of the smooth blue bell using the left arm.",
+    "Have the left arm click at the compact bell with round base's top center.",
+    "Click using the left arm on the bell with brown base's center.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Press the center top of the bell with protruding knob.",
+    "Use the left arm to press the compact bell with round base's top section.",
+    "Guide the left arm to click the flat-topped bell's top center.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Press down the top of the round bell using the left arm.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Press the blue dome-shaped bell's top center with the left arm firmly.",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Make the left arm interact with the round bell's top center.",
+    "Direct the left arm to click the top of the blue dome-shaped bell.",
+    "Direct the left arm to touch the compact bell with round base's top.",
+    "Command the left arm to press the bell with brown base's top.",
+    "Press the top center of the smooth blue bell on table.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Use the left arm to touch the small blue and brown bell's top center.",
+    "Click the designated center of the small blue and brown bell.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Locate the bell with circular body and click its top center.",
+    "Click the top center of the bell with circular body on table.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Push the center of the metal bell with plastic parts using the left arm.",
+    "Tap the top center of the flat-topped bell.",
+    "Press down the bell with brown base's top center gently.",
+    "Press the center of the blue dome-shaped bell using the left arm.",
+    "Have the left arm click at the brown-bottomed bell's top center.",
+    "Click using the left arm on the bell with brown base's center.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Press the center top of the brown-bottomed bell.",
+    "Use the left arm to press the smooth blue bell's top section.",
+    "Guide the left arm to click the blue bell's top center.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Click the flat-topped bell's <top center> using the left arm",
+    "Press down the top of the bell with brown base using the left arm.",
+    "Ask the left arm to interact with the bell with circular body's top.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Press the blue bell's top center with the left arm firmly.",
+    "Click the blue bell's top center using the left arm.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Direct the left arm to click the top of the brown-bottomed bell.",
+    "Direct the left arm to touch the small blue and brown bell's top.",
+    "Command the left arm to press the flat-topped bell's top.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Press the round bell's top center on the table.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Click the top center of the round bell on table.",
+    "Click the round bell at its top center on table.",
+    "Push the center of the compact bell with round base using the left arm.",
+    "Tap the top center of the flat-topped bell.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Press the center of the metal bell with plastic parts using the left arm.",
+    "Have the left arm click at the metal bell with plastic parts's top center.",
+    "Click using the left arm on the small blue and brown bell's center.",
+    "Press the specified top area of the compact bell with round base.",
+    "Push the round bell's <top center> on the table",
+    "Press the center top of the bell with protruding knob.",
+    "Use the left arm to press the blue bell's top section.",
+    "Guide the left arm to click the bell with brown base's top center.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Click the brown-bottomed bell's <top center> using the left arm",
+    "Press down the top of the brown-bottomed bell using the left arm.",
+    "Ask the left arm to interact with the small blue and brown bell's top.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Press the flat-topped bell's top center with the left arm firmly.",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Make the left arm interact with the bell with circular body's top center.",
+    "Direct the left arm to click the top of the bell with brown base.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Command the left arm to press the compact bell with round base's top.",
+    "Press the top center of the smooth blue bell on table.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Locate the compact bell with round base and click its top center.",
+    "Click the top center of the bell with protruding knob on table."
+  ],
+  "unseen": [
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode31.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Use the right arm to touch the bell with black flat base's top center.",
+    "Direct the right arm to click the top of the white dome bell.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Press down the top of the white and black colored bell using the right arm.",
+    "Tap the top center of the bell with black flat base.",
+    "Use the right arm to press the white bell's top section.",
+    "Push the center of the bell shaped like half-circle dome using the right arm.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Press the center of the bell with black flat base using the right arm.",
+    "Click using the right arm on the white dome bell's center.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Press the bell with black flat base's top center on the table.",
+    "Click the white dome bell's top center using the right arm.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Press the center top of the small desk bell for tapping.",
+    "Direct the right arm to touch the white and black colored bell's top.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Click the designated center of the plastic and metal bell.",
+    "Have the right arm click at the bell with metallic top and plastic base's top center.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Command the right arm to press the small desk bell for tapping's top.",
+    "Click the bell with metallic top and plastic base's <top center> using the right arm",
+    "Press down the white dome bell's top center gently.",
+    "Press the rounded bell with flat black part's top center with the right arm firmly.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Guide the right arm to click the simple hand bell with black stand's top center.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Make the right arm interact with the white bell's top center.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Direct the right arm to click the top of the plastic and metal bell.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Press down the top of the bell shaped like half-circle dome using the right arm.",
+    "Tap the top center of the small desk bell for tapping.",
+    "Use the right arm to press the rounded bell with flat black part's top section.",
+    "Push the center of the white dome bell using the right arm.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Press the center of the bell with black flat base using the right arm.",
+    "Click using the right arm on the simple hand bell with black stand's center.",
+    "Locate the white and black colored bell and click its top center.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Click the small desk bell for tapping's top center using the right arm.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Direct the right arm to touch the simple hand bell with black stand's top.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Ask the right arm to interact with the plastic and metal bell's top.",
+    "Command the right arm to press the rounded bell with flat black part's top.",
+    "Click the small desk bell for tapping's <top center> using the right arm",
+    "Press down the plastic and metal bell's top center gently.",
+    "Press the bell with metallic top and plastic base's top center with the right arm firmly.",
+    "Press the specified top area of the white bell.",
+    "Guide the right arm to click the small desk bell for tapping's top center.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Use the right arm to touch the white and black colored bell's top center.",
+    "Direct the right arm to click the top of the white and black colored bell.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Press down the top of the simple hand bell with black stand using the right arm.",
+    "Tap the top center of the white bell with black bottom.",
+    "Use the right arm to press the bell with metallic top and plastic base's top section.",
+    "Push the center of the white bell with black bottom using the right arm.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Press the center of the small desk bell for tapping using the right arm.",
+    "Click using the right arm on the plastic and metal bell's center.",
+    "Locate the white dome bell and click its top center.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Click the simple hand bell with black stand's top center using the right arm.",
+    "Tap the white bell's top center with the right arm.",
+    "Press the center top of the white bell.",
+    "Direct the right arm to touch the white dome bell's top.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Click the designated center of the plastic and metal bell.",
+    "Have the right arm click at the bell shaped like half-circle dome's top center.",
+    "Ask the right arm to interact with the white dome bell's top.",
+    "Command the right arm to press the plastic and metal bell's top.",
+    "Click the rounded bell with flat black part's <top center> using the right arm",
+    "Press down the bell with black flat base's top center gently.",
+    "Press the small desk bell for tapping's top center with the right arm firmly.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Guide the right arm to click the bell shaped like half-circle dome's top center.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Make the right arm interact with the rounded bell with flat black part's top center.",
+    "Use the right arm to touch the white bell's top center.",
+    "Direct the right arm to click the top of the compact tabletop bell.",
+    "Click the white dome bell at its top center on table.",
+    "Press down the top of the bell with black flat base using the right arm.",
+    "Tap the top center of the white and black colored bell."
+  ],
+  "unseen": [
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal bell."
+  ]
+}

click_bell/demo_diverse/instructions/episode32.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate the small desk bell for tapping and click its top center.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Press the white dome bell's top center on the table.",
+    "Click the bell with metallic top and plastic base's top center using the left arm.",
+    "Press the top center of the bell with black flat base on table.",
+    "Have the left arm click at the white bell's top center.",
+    "Command the left arm to press the plastic and metal bell's top.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center.",
+    "Tap the top center of the compact tabletop bell.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Press down the top of the bell shaped like half-circle dome using the left arm.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Press the specified top area of the white and black colored bell.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Pinpoint the white bell and click its top center.",
+    "Ask the left arm to interact with the bell shaped like half-circle dome's top.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Press the center top of the white bell with black bottom.",
+    "Press the white dome bell's top center on the table.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Command the left arm to press the white and black colored bell's top.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Click the compact tabletop bell's <top center> using the left arm",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Direct the left arm to touch the bell shaped like half-circle dome's top.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Click the designated center of the compact tabletop bell.",
+    "Use the left arm to press the simple hand bell with black stand's top section.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center.",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Direct the left arm to click the top of the white dome bell.",
+    "Press down the top of the compact tabletop bell using the left arm.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Click using the left arm on the compact tabletop bell's center.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Press the specified top area of the bell with black flat base.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Ask the left arm to interact with the bell shaped like half-circle dome's top.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Press the top center of the white dome bell on table.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Command the left arm to press the white and black colored bell's top.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Push the bell with black flat base's <top center> on the table",
+    "Click the bell with black flat base at its top center on table.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Click the designated center of the bell with black flat base.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Tap the top center of the small desk bell for tapping.",
+    "Direct the left arm to click the top of the bell with metallic top and plastic base.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Click the top center of the white bell on table.",
+    "Make the left arm interact with the small desk bell for tapping's top center.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Guide the left arm to click the simple hand bell with black stand's top center.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Ask the left arm to interact with the white dome bell's top.",
+    "Press the center of the compact tabletop bell using the left arm.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Press the center top of the white bell with black bottom.",
+    "Press the white and black colored bell's top center on the table.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Have the left arm click at the white bell's top center."
+  ],
+  "unseen": [
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table."
+  ]
+}

click_bell/demo_diverse/instructions/episode34.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the top center of the plastic and metal bell.",
+    "Direct the left arm to click the top of the white bell.",
+    "Click the designated center of the white bell.",
+    "Make the left arm interact with the white dome bell's top center.",
+    "Press down the white bell's top center gently.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Locate the white dome bell and click its top center.",
+    "Ask the left arm to interact with the white dome bell's top.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Push the center of the white and black colored bell using the left arm.",
+    "Push the white dome bell's <top center> on the table",
+    "Press the center top of the bell with black flat base.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Press the specified top area of the white and black colored bell.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Use the left arm to press the simple hand bell with black stand's top section.",
+    "Press the center of the white bell using the left arm.",
+    "Click the bell with black flat base's <top center> using the left arm",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Have the left arm click at the simple hand bell with black stand's top center.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Press down the top of the simple hand bell with black stand using the left arm.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Click the white dome bell's top center using the left arm.",
+    "Click using the left arm on the white bell with black bottom's center.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Direct the left arm to touch the white bell's top.",
+    "Tap the top center of the white dome bell.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Click the designated center of the bell with black flat base.",
+    "Make the left arm interact with the plastic and metal bell's top center.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Click the top center of the white and black colored bell on table.",
+    "Locate the white and black colored bell and click its top center.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Push the center of the rounded bell with flat black part using the left arm.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Press the center top of the white bell with black bottom.",
+    "Use the left arm to touch the small desk bell for tapping's top center.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Press the compact tabletop bell's top center with the left arm firmly.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Click the white bell's <top center> using the left arm",
+    "Click the white and black colored bell at its top center on table.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Have the left arm click at the rounded bell with flat black part's top center.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Press down the top of the bell shaped like half-circle dome using the left arm.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Press the top center of the white dome bell on table.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Direct the left arm to touch the bell with black flat base's top.",
+    "Tap the top center of the small desk bell for tapping.",
+    "Direct the left arm to click the top of the small desk bell for tapping.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Push the white dome bell's <top center> on the table",
+    "Press the center top of the white bell with black bottom.",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Activate the white dome bell by pressing its top center.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Click the plastic and metal bell's <top center> using the left arm",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Pinpoint the white bell and click its top center.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Press down the top of the plastic and metal bell using the left arm.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Click the white bell's top center using the left arm.",
+    "Click using the left arm on the plastic and metal bell's center.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Tap the top center of the white bell with black bottom.",
+    "Direct the left arm to click the top of the bell with metallic top and plastic base.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Press down the white dome bell's top center gently.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Locate the small desk bell for tapping and click its top center."
+  ],
+  "unseen": [
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the medium-sized bell's top."
+  ]
+}

click_bell/demo_diverse/instructions/episode36.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click using the left arm on the round bell's center.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Command the left arm to press the compact bell with round base's top.",
+    "Press the center of the small blue and brown bell using the left arm.",
+    "Use the left arm to press the brown-bottomed bell's top section.",
+    "Make the left arm interact with the smooth blue bell's top center.",
+    "Tap the blue bell's top center with the left arm.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Press down the round bell's top center gently.",
+    "Click the brown-bottomed bell's <top center> using the left arm",
+    "Locate the small blue and brown bell and click its top center.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Click the designated center of the bell with circular body.",
+    "Guide the left arm to click the bell with protruding knob's top center.",
+    "Press the top center of the blue bell on table.",
+    "Tap the top center of the bell with protruding knob.",
+    "Click the bell with brown base's top center using the left arm.",
+    "Use the left arm to touch the brown-bottomed bell's top center.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Direct the left arm to click the top of the bell with protruding knob.",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Ask the left arm to interact with the smooth blue bell's top.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Click the top center of the compact bell with round base on table.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Press the center top of the bell with circular body.",
+    "Press the round bell's top center on the table.",
+    "Press down the top of the brown-bottomed bell using the left arm.",
+    "Push the center of the round bell using the left arm.",
+    "Click using the left arm on the flat-topped bell's center.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Command the left arm to press the brown-bottomed bell's top.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Use the left arm to press the flat-topped bell's top section.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Have the left arm click at the bell with circular body's top center.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Locate the compact bell with round base and click its top center.",
+    "Click the round bell at its top center on table.",
+    "Click the designated center of the bell with protruding knob.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Tap the top center of the compact bell with round base.",
+    "Click the smooth blue bell's top center using the left arm.",
+    "Use the left arm to touch the bell with circular body's top center.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Direct the left arm to click the top of the blue dome-shaped bell.",
+    "Direct the left arm to touch the bell with circular body's top.",
+    "Ask the left arm to interact with the brown-bottomed bell's top.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Click the top center of the smooth blue bell on table.",
+    "Press the bell with circular body's top center with the left arm firmly.",
+    "Press the center top of the smooth blue bell.",
+    "Press the smooth blue bell's top center on the table.",
+    "Press down the top of the blue bell using the left arm.",
+    "Push the center of the bell with protruding knob using the left arm.",
+    "Click using the left arm on the flat-topped bell's center.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Command the left arm to press the bell with protruding knob's top.",
+    "Press the center of the round bell using the left arm.",
+    "Use the left arm to press the blue bell's top section.",
+    "Make the left arm interact with the small blue and brown bell's top center.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Press the specified top area of the bell with brown base.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Have the left arm click at the small blue and brown bell's top center.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Click the blue bell's <top center> using the left arm",
+    "Locate the flat-topped bell and click its top center.",
+    "Click the bell with brown base at its top center on table.",
+    "Click the designated center of the bell with circular body.",
+    "Guide the left arm to click the bell with protruding knob's top center.",
+    "Press the top center of the round bell on table.",
+    "Tap the top center of the smooth blue bell.",
+    "Click the bell with circular body's top center using the left arm.",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Direct the left arm to click the top of the round bell.",
+    "Direct the left arm to touch the blue bell's top.",
+    "Ask the left arm to interact with the blue bell's top.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Click the top center of the bell with brown base on table.",
+    "Press the flat-topped bell's top center with the left arm firmly.",
+    "Press the center top of the flat-topped bell.",
+    "Press the bell with brown base's top center on the table.",
+    "Press down the top of the bell with brown base using the left arm.",
+    "Push the center of the bell with circular body using the left arm.",
+    "Click using the left arm on the round bell's center.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Command the left arm to press the bell with circular body's top.",
+    "Press the center of the metal bell with plastic parts using the left arm.",
+    "Use the left arm to press the blue dome-shaped bell's top section.",
+    "Make the left arm interact with the compact bell with round base's top center.",
+    "Tap the flat-topped bell's top center with the left arm."
+  ],
+  "unseen": [
+    "Click the top center of the palm-sized bell.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode37.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the bell with protruding knob's <top center> on the table",
+    "Press the center of the small blue and brown bell using the left arm.",
+    "Direct the left arm to click the top of the smooth blue bell.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Have the left arm click at the metal bell with plastic parts's top center.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Command the left arm to press the blue dome-shaped bell's top.",
+    "Use the left arm to press the blue bell's top section.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Guide the left arm to click the brown-bottomed bell's top center.",
+    "Click using the left arm on the blue bell's center.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Click the blue bell's top center using the left arm.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Locate the compact bell with round base and click its top center.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Click the smooth blue bell at its top center on table.",
+    "Click the metal bell with plastic parts's <top center> using the left arm",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Use the left arm to touch the flat-topped bell's top center.",
+    "Press the center top of the bell with protruding knob.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Push the center of the metal bell with plastic parts using the left arm.",
+    "Press down the compact bell with round base's top center gently.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Press the small blue and brown bell's top center with the left arm firmly.",
+    "Click the designated center of the blue bell.",
+    "Push the bell with brown base's <top center> on the table",
+    "Press the center of the bell with circular body using the left arm.",
+    "Direct the left arm to click the top of the bell with circular body.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Have the left arm click at the bell with circular body's top center.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Command the left arm to press the bell with circular body's top.",
+    "Use the left arm to press the bell with protruding knob's top section.",
+    "Direct the left arm to touch the smooth blue bell's top.",
+    "Guide the left arm to click the blue bell's top center.",
+    "Click using the left arm on the bell with protruding knob's center.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Click the flat-topped bell's top center using the left arm.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Locate the round bell and click its top center.",
+    "Make the left arm interact with the compact bell with round base's top center.",
+    "Click the top center of the blue dome-shaped bell on table.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Click the bell with protruding knob's <top center> using the left arm",
+    "Tap the top center of the flat-topped bell.",
+    "Use the left arm to touch the bell with protruding knob's top center.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Press the specified top area of the bell with circular body.",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Push the center of the brown-bottomed bell using the left arm.",
+    "Press down the blue bell's top center gently.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Ask the left arm to interact with the blue bell's top.",
+    "Press the compact bell with round base's top center with the left arm firmly.",
+    "Click the designated center of the blue bell.",
+    "Push the blue bell's <top center> on the table",
+    "Press the center of the bell with brown base using the left arm.",
+    "Direct the left arm to click the top of the flat-topped bell.",
+    "Press the blue bell's top center on the table.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Command the left arm to press the round bell's top.",
+    "Use the left arm to press the smooth blue bell's top section.",
+    "Direct the left arm to touch the bell with protruding knob's top.",
+    "Guide the left arm to click the blue bell's top center.",
+    "Click using the left arm on the bell with protruding knob's center.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Click the flat-topped bell's top center using the left arm.",
+    "Press the top center of the blue bell on table.",
+    "Locate the smooth blue bell and click its top center.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Click the flat-topped bell at its top center on table.",
+    "Click the blue bell's <top center> using the left arm",
+    "Tap the top center of the brown-bottomed bell.",
+    "Use the left arm to touch the metal bell with plastic parts's top center.",
+    "Press the center top of the bell with brown base.",
+    "Press the specified top area of the blue bell.",
+    "Press down the top of the smooth blue bell using the left arm.",
+    "Push the center of the small blue and brown bell using the left arm.",
+    "Press down the smooth blue bell's top center gently.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Ask the left arm to interact with the flat-topped bell's top.",
+    "Press the round bell's top center with the left arm firmly.",
+    "Click the designated center of the blue bell.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Press the center of the bell with brown base using the left arm.",
+    "Direct the left arm to click the top of the smooth blue bell.",
+    "Press the smooth blue bell's top center on the table.",
+    "Have the left arm click at the compact bell with round base's top center.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Pinpoint the metal bell with plastic parts and click its top center."
+  ],
+  "unseen": [
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode38.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the top center of the small blue and brown bell on table.",
+    "Ask the right arm to interact with the bell with circular body's top.",
+    "Tap the round bell's top center with the right arm.",
+    "Press the bell with brown base's top center on the table.",
+    "Direct the right arm to click the top of the smooth blue bell.",
+    "Press the specified top area of the round bell.",
+    "Press down the smooth blue bell's top center gently.",
+    "Have the right arm click at the bell with circular body's top center.",
+    "Use the right arm to press the round bell's top section.",
+    "Use the right arm to touch the compact bell with round base's top center.",
+    "Click the designated center of the bell with circular body.",
+    "Click the flat-topped bell's <top center> using the right arm",
+    "Push the center of the compact bell with round base using the right arm.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Click using the right arm on the small blue and brown bell's center.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Make the right arm interact with the bell with circular body's top center.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Guide the right arm to click the smooth blue bell's top center.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Press the center top of the compact bell with round base.",
+    "Press the bell with circular body's top center with the right arm firmly.",
+    "Command the right arm to press the brown-bottomed bell's top.",
+    "Click the compact bell with round base at its top center on table.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Activate the blue bell by pressing its top center.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Tap the top center of the brown-bottomed bell.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Press the center of the bell with brown base using the right arm.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Ask the right arm to interact with the bell with brown base's top.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Press the specified top area of the bell with brown base.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Have the right arm click at the flat-topped bell's top center.",
+    "Use the right arm to press the compact bell with round base's top section.",
+    "Use the right arm to touch the compact bell with round base's top center.",
+    "Click the designated center of the compact bell with round base.",
+    "Click the bell with brown base's <top center> using the right arm",
+    "Push the center of the blue bell using the right arm.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Click using the right arm on the compact bell with round base's center.",
+    "Pinpoint the round bell and click its top center.",
+    "Make the right arm interact with the brown-bottomed bell's top center.",
+    "Click the round bell's top center using the right arm.",
+    "Guide the right arm to click the bell with protruding knob's top center.",
+    "Locate the bell with circular body and click its top center.",
+    "Press the center top of the bell with circular body.",
+    "Press the metal bell with plastic parts's top center with the right arm firmly.",
+    "Command the right arm to press the bell with protruding knob's top.",
+    "Click the smooth blue bell at its top center on table.",
+    "Direct the right arm to touch the blue bell's top.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Press the top center of the bell with brown base on table.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Tap the top center of the small blue and brown bell.",
+    "Press down the top of the bell with protruding knob using the right arm.",
+    "Press the center of the smooth blue bell using the right arm.",
+    "Click the top center of the flat-topped bell on table.",
+    "Ask the right arm to interact with the brown-bottomed bell's top.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Press the blue bell's top center on the table.",
+    "Direct the right arm to click the top of the flat-topped bell.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Have the right arm click at the bell with brown base's top center.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Use the right arm to touch the bell with protruding knob's top center.",
+    "Click the designated center of the blue bell.",
+    "Click the bell with protruding knob's <top center> using the right arm",
+    "Push the center of the compact bell with round base using the right arm.",
+    "Tap the blue bell's top center with the right arm.",
+    "Click using the right arm on the smooth blue bell's center.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Make the right arm interact with the blue dome-shaped bell's top center.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Guide the right arm to click the smooth blue bell's top center.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Press the center top of the round bell.",
+    "Press the small blue and brown bell's top center with the right arm firmly.",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Click the flat-topped bell at its top center on table.",
+    "Direct the right arm to touch the flat-topped bell's top.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Tap the top center of the bell with circular body.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Press the center of the blue dome-shaped bell using the right arm.",
+    "Click the top center of the flat-topped bell on table.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Press the smooth blue bell's top center on the table.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Press down the flat-topped bell's top center gently."
+  ],
+  "unseen": [
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode39.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Press down the top of the compact tabletop bell using the left arm.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Push the center of the simple hand bell with black stand using the left arm.",
+    "Press the top center of the white bell on table.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Press the center top of the compact tabletop bell.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Use the left arm to press the bell shaped like half-circle dome's top section.",
+    "Guide the left arm to click the small desk bell for tapping's top center.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Command the left arm to press the compact tabletop bell's top.",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Direct the left arm to touch the rounded bell with flat black part's top.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Click the top center of the bell with black flat base on table.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Click the designated center of the white dome bell.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Tap the top center of the white and black colored bell.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Press the white bell's top center with the left arm firmly.",
+    "Direct the left arm to click the top of the small desk bell for tapping.",
+    "Have the left arm click at the bell with black flat base's top center.",
+    "Press down the top of the compact tabletop bell using the left arm.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Press down the white bell's top center gently.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Ask the left arm to interact with the white bell's top.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Make the left arm interact with the simple hand bell with black stand's top center.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Guide the left arm to click the compact tabletop bell's top center.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Command the left arm to press the white bell's top.",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Direct the left arm to touch the white dome bell's top.",
+    "Click the simple hand bell with black stand's top center using the left arm.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Click the top center of the bell with black flat base on table.",
+    "Press the center of the white and black colored bell using the left arm.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Click the designated center of the white bell.",
+    "Press the plastic and metal bell's top center on the table.",
+    "Click using the left arm on the bell with black flat base's center.",
+    "Tap the top center of the compact tabletop bell.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Press the white bell with black bottom's top center with the left arm firmly.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Press down the top of the bell shaped like half-circle dome using the left arm.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Press down the white and black colored bell's top center gently.",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Press the center top of the compact tabletop bell.",
+    "Make the left arm interact with the small desk bell for tapping's top center.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Use the left arm to press the white and black colored bell's top section.",
+    "Guide the left arm to click the small desk bell for tapping's top center.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Command the left arm to press the white bell's top.",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Direct the left arm to touch the bell shaped like half-circle dome's top.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Press the center of the small desk bell for tapping using the left arm.",
+    "Activate the white dome bell by pressing its top center.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Press the white and black colored bell's top center on the table.",
+    "Click using the left arm on the bell with black flat base's center.",
+    "Tap the top center of the white bell.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Press the white bell's top center with the left arm firmly.",
+    "Direct the left arm to click the top of the white bell with black bottom.",
+    "Have the left arm click at the bell with black flat base's top center.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Press the top center of the bell shaped like half-circle dome on table."
+  ],
+  "unseen": [
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table."
+  ]
+}

click_bell/demo_diverse/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the top center of the plastic and metal bell.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Make the left arm interact with the simple hand bell with black stand's top center.",
+    "Command the left arm to press the rounded bell with flat black part's top.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Press the center top of the compact tabletop bell.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Click the designated center of the white dome bell.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Press the center of the plastic and metal bell using the left arm.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Press the specified top area of the white and black colored bell.",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Click the white bell's top center using the left arm.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Direct the left arm to touch the bell shaped like half-circle dome's top.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Tap the top center of the bell with black flat base.",
+    "Press down the top of the white bell with black bottom using the left arm.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Command the left arm to press the compact tabletop bell's top.",
+    "Have the left arm click at the white bell's top center.",
+    "Click the small desk bell for tapping's <top center> using the left arm",
+    "Click the white bell with black bottom at its top center on table.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Click the designated center of the compact tabletop bell.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Locate the compact tabletop bell and click its top center.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Use the left arm to touch the white bell with black bottom's top center.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Direct the left arm to click the top of the bell with metallic top and plastic base.",
+    "Press the small desk bell for tapping's top center with the left arm firmly.",
+    "Press the specified top area of the white dome bell.",
+    "Ask the left arm to interact with the white bell's top.",
+    "Click using the left arm on the plastic and metal bell's center.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Click the white dome bell's top center using the left arm.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Tap the top center of the white bell.",
+    "Press down the top of the plastic and metal bell using the left arm.",
+    "Make the left arm interact with the white dome bell's top center.",
+    "Command the left arm to press the bell shaped like half-circle dome's top.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Click the white bell at its top center on table.",
+    "Press the center top of the plastic and metal bell.",
+    "Pinpoint the white bell and click its top center.",
+    "Click the designated center of the bell with black flat base.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Activate the white dome bell by pressing its top center.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Press the center of the white and black colored bell using the left arm.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Use the left arm to touch the small desk bell for tapping's top center.",
+    "Use the left arm to press the white bell's top section.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Press the bell with metallic top and plastic base's top center with the left arm firmly.",
+    "Press the specified top area of the bell with black flat base.",
+    "Ask the left arm to interact with the white bell with black bottom's top.",
+    "Click using the left arm on the white and black colored bell's center.",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Click the plastic and metal bell's top center using the left arm.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Direct the left arm to touch the compact tabletop bell's top.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Tap the top center of the white bell.",
+    "Press down the top of the white bell using the left arm.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Command the left arm to press the bell with black flat base's top.",
+    "Have the left arm click at the rounded bell with flat black part's top center.",
+    "Click the white bell's <top center> using the left arm",
+    "Click the small desk bell for tapping at its top center on table."
+  ],
+  "unseen": [
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top."
+  ]
+}

click_bell/demo_diverse/instructions/episode40.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the blue bell's top center on the table.",
+    "Press down the top of the bell with brown base using the left arm.",
+    "Click the bell with protruding knob's <top center> using the left arm",
+    "Guide the left arm to click the blue dome-shaped bell's top center.",
+    "Press down the round bell's top center gently.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Use the left arm to touch the smooth blue bell's top center.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Press the center top of the brown-bottomed bell.",
+    "Click the designated center of the blue bell.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Push the bell with circular body's <top center> on the table",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Direct the left arm to touch the blue bell's top.",
+    "Push the center of the bell with circular body using the left arm.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Direct the left arm to click the top of the blue bell.",
+    "Click the flat-topped bell's top center using the left arm.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Click using the left arm on the round bell's center.",
+    "Tap the top center of the round bell.",
+    "Press the center of the round bell using the left arm.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Activate the blue dome-shaped bell by pressing its top center.",
+    "Make the left arm interact with the round bell's top center.",
+    "Have the left arm click at the metal bell with plastic parts's top center.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Ask the left arm to interact with the round bell's top.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Command the left arm to press the blue bell's top.",
+    "Press the bell with circular body's top center on the table.",
+    "Press down the top of the flat-topped bell using the left arm.",
+    "Click the smooth blue bell's <top center> using the left arm",
+    "Guide the left arm to click the bell with brown base's top center.",
+    "Press down the bell with circular body's top center gently.",
+    "Press the bell with protruding knob's top center with the left arm firmly.",
+    "Use the left arm to touch the brown-bottomed bell's top center.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Click the designated center of the flat-topped bell.",
+    "Press the top center of the bell with circular body on table.",
+    "Push the blue bell's <top center> on the table",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Direct the left arm to touch the small blue and brown bell's top.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Locate the compact bell with round base and click its top center.",
+    "Direct the left arm to click the top of the bell with circular body.",
+    "Click the compact bell with round base's top center using the left arm.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Click using the left arm on the bell with protruding knob's center.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Press the center of the small blue and brown bell using the left arm.",
+    "Press the specified top area of the flat-topped bell.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Have the left arm click at the blue bell's top center.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Ask the left arm to interact with the bell with protruding knob's top.",
+    "Click the top center of the smooth blue bell on table.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Command the left arm to press the smooth blue bell's top.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Press down the top of the smooth blue bell using the left arm.",
+    "Click the blue bell's <top center> using the left arm",
+    "Guide the left arm to click the metal bell with plastic parts's top center.",
+    "Press down the bell with circular body's top center gently.",
+    "Press the small blue and brown bell's top center with the left arm firmly.",
+    "Use the left arm to touch the round bell's top center.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Press the center top of the metal bell with plastic parts.",
+    "Click the designated center of the round bell.",
+    "Press the top center of the bell with circular body on table.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Direct the left arm to touch the compact bell with round base's top.",
+    "Push the center of the bell with protruding knob using the left arm.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Direct the left arm to click the top of the brown-bottomed bell.",
+    "Click the compact bell with round base's top center using the left arm.",
+    "Use the left arm to press the compact bell with round base's top section.",
+    "Click using the left arm on the metal bell with plastic parts's center.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Press the center of the smooth blue bell using the left arm.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Activate the flat-topped bell by pressing its top center.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Have the left arm click at the blue bell's top center.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Ask the left arm to interact with the round bell's top.",
+    "Click the top center of the blue bell on table.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Command the left arm to press the bell with protruding knob's top.",
+    "Press the smooth blue bell's top center on the table.",
+    "Press down the top of the brown-bottomed bell using the left arm.",
+    "Click the blue dome-shaped bell's <top center> using the left arm",
+    "Guide the left arm to click the blue dome-shaped bell's top center.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Press the bell with brown base's top center with the left arm firmly.",
+    "Use the left arm to touch the blue bell's top center."
+  ],
+  "unseen": [
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table."
+  ]
+}

click_bell/demo_diverse/instructions/episode41.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Use the left arm to press the small desk bell for tapping's top section.",
+    "Press the white and black colored bell's top center on the table.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Press the center of the compact tabletop bell using the left arm.",
+    "Activate the white dome bell by pressing its top center.",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Press the top center of the white and black colored bell on table.",
+    "Click the simple hand bell with black stand's top center using the left arm.",
+    "Click using the left arm on the plastic and metal bell's center.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Tap the top center of the white bell.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Ask the left arm to interact with the white bell's top.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Press the center top of the small desk bell for tapping.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Click the designated center of the white bell.",
+    "Click the bell with black flat base's <top center> using the left arm",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Press down the top of the bell with black flat base using the left arm.",
+    "Command the left arm to press the small desk bell for tapping's top.",
+    "Guide the left arm to click the simple hand bell with black stand's top center.",
+    "Make the left arm interact with the bell shaped like half-circle dome's top center.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Locate the white dome bell and click its top center.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Activate the white dome bell by pressing its top center.",
+    "Use the left arm to touch the white bell with black bottom's top center.",
+    "Have the left arm click at the white bell with black bottom's top center.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Press the top center of the white bell on table.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Click using the left arm on the white dome bell's center.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Tap the top center of the bell with black flat base.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Press the white bell's top center with the left arm firmly.",
+    "Press the center top of the compact tabletop bell.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Click the designated center of the plastic and metal bell.",
+    "Click the bell with black flat base's <top center> using the left arm",
+    "Click the white bell at its top center on table.",
+    "Press down the top of the bell with black flat base using the left arm.",
+    "Command the left arm to press the small desk bell for tapping's top.",
+    "Guide the left arm to click the compact tabletop bell's top center.",
+    "Make the left arm interact with the bell with metallic top and plastic base's top center.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Press the specified top area of the bell with black flat base.",
+    "Direct the left arm to click the top of the white dome bell.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Use the left arm to press the small desk bell for tapping's top section.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Direct the left arm to touch the white and black colored bell's top.",
+    "Press the center of the plastic and metal bell using the left arm.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Use the left arm to touch the small desk bell for tapping's top center.",
+    "Have the left arm click at the bell with black flat base's top center.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Click using the left arm on the bell with metallic top and plastic base's center.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Tap the top center of the compact tabletop bell.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Press the center top of the small desk bell for tapping.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Click the plastic and metal bell's <top center> using the left arm",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Press down the top of the white bell using the left arm.",
+    "Command the left arm to press the white bell's top.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Make the left arm interact with the white bell's top center.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Locate the white bell and click its top center.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center."
+  ],
+  "unseen": [
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode43.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Guide the right arm to click the smooth blue bell's top center.",
+    "Command the right arm to press the metal bell with plastic parts's top.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Press the flat-topped bell's top center with the right arm firmly.",
+    "Locate the round bell and click its top center.",
+    "Push the round bell's <top center> on the table",
+    "Tap the bell with circular body's top center with the right arm.",
+    "Press down the smooth blue bell's top center gently.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Make the right arm interact with the small blue and brown bell's top center.",
+    "Click using the right arm on the brown-bottomed bell's center.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Press the top center of the blue bell on table.",
+    "Click the flat-topped bell's <top center> using the right arm",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Press the center top of the bell with protruding knob.",
+    "Push the center of the compact bell with round base using the right arm.",
+    "Have the right arm click at the bell with circular body's top center.",
+    "Press down the top of the smooth blue bell using the right arm.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Use the right arm to touch the bell with brown base's top center.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Direct the right arm to click the top of the smooth blue bell.",
+    "Direct the right arm to touch the small blue and brown bell's top.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Press the center of the bell with protruding knob using the right arm.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Press the specified top area of the round bell.",
+    "Click the designated center of the blue bell.",
+    "Click the flat-topped bell at its top center on table.",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Command the right arm to press the brown-bottomed bell's top.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Press the bell with brown base's top center with the right arm firmly.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Tap the round bell's top center with the right arm.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Make the right arm interact with the small blue and brown bell's top center.",
+    "Click using the right arm on the bell with circular body's center.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Press the top center of the bell with circular body on table.",
+    "Click the bell with protruding knob's <top center> using the right arm",
+    "Click the top center of the blue dome-shaped bell on table.",
+    "Press the center top of the blue bell.",
+    "Push the center of the compact bell with round base using the right arm.",
+    "Have the right arm click at the blue bell's top center.",
+    "Press down the top of the smooth blue bell using the right arm.",
+    "Tap the top center of the compact bell with round base.",
+    "Use the right arm to touch the bell with circular body's top center.",
+    "Use the right arm to press the blue bell's top section.",
+    "Direct the right arm to click the top of the bell with brown base.",
+    "Direct the right arm to touch the flat-topped bell's top.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Ask the right arm to interact with the round bell's top.",
+    "Press the center of the compact bell with round base using the right arm.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Click the smooth blue bell at its top center on table.",
+    "Guide the right arm to click the blue bell's top center.",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Press the flat-topped bell's top center with the right arm firmly.",
+    "Locate the smooth blue bell and click its top center.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Press down the smooth blue bell's top center gently.",
+    "Click the bell with circular body's top center using the right arm.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Click using the right arm on the bell with protruding knob's center.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Click the smooth blue bell's <top center> using the right arm",
+    "Click the top center of the flat-topped bell on table.",
+    "Press the center top of the round bell.",
+    "Push the center of the compact bell with round base using the right arm.",
+    "Have the right arm click at the round bell's top center.",
+    "Press down the top of the blue dome-shaped bell using the right arm.",
+    "Tap the top center of the bell with circular body.",
+    "Use the right arm to touch the round bell's top center.",
+    "Use the right arm to press the brown-bottomed bell's top section.",
+    "Direct the right arm to click the top of the blue bell.",
+    "Direct the right arm to touch the smooth blue bell's top.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Ask the right arm to interact with the blue dome-shaped bell's top.",
+    "Press the center of the flat-topped bell using the right arm.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Press the specified top area of the blue bell.",
+    "Click the designated center of the compact bell with round base.",
+    "Click the bell with brown base at its top center on table.",
+    "Guide the right arm to click the bell with circular body's top center.",
+    "Command the right arm to press the brown-bottomed bell's top.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Press the blue bell's top center with the right arm firmly.",
+    "Locate the compact bell with round base and click its top center.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Tap the metal bell with plastic parts's top center with the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode44.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Press the center top of the plastic and metal bell.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Press down the bell with black flat base's top center gently.",
+    "Press the top center of the white dome bell on table.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Press down the top of the small desk bell for tapping using the left arm.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Locate the bell with black flat base and click its top center.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Command the left arm to press the bell with black flat base's top.",
+    "Press the white and black colored bell's top center on the table.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Use the left arm to press the white bell's top section.",
+    "Push the white dome bell's <top center> on the table",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Tap the top center of the plastic and metal bell.",
+    "Direct the left arm to touch the compact tabletop bell's top.",
+    "Click the top center of the bell with black flat base on table.",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Tap the white bell's top center with the left arm.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Click the rounded bell with flat black part's top center using the left arm.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Click using the left arm on the white bell's center.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Press the top center of the white and black colored bell on table.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Guide the left arm to click the bell shaped like half-circle dome's top center.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Click the designated center of the compact tabletop bell.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Press down the top of the bell with black flat base using the left arm.",
+    "Press the specified top area of the white and black colored bell.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Push the center of the white and black colored bell using the left arm.",
+    "Command the left arm to press the bell with black flat base's top.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Activate the white dome bell by pressing its top center.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Have the left arm click at the bell with black flat base's top center.",
+    "Tap the white bell's top center with the left arm.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Direct the left arm to touch the white bell's top.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Press the center of the small desk bell for tapping using the left arm.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Press the center top of the small desk bell for tapping.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Click using the left arm on the white bell's center.",
+    "Press down the white bell's top center gently.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Click the designated center of the bell with black flat base.",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Press down the top of the plastic and metal bell using the left arm.",
+    "Press the specified top area of the bell with black flat base.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Click the compact tabletop bell's <top center> using the left arm",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Command the left arm to press the white dome bell's top.",
+    "Press the bell with black flat base's top center on the table.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Have the left arm click at the white bell's top center.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Tap the top center of the white bell.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Press the center of the plastic and metal bell using the left arm.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Click the bell with metallic top and plastic base's top center using the left arm.",
+    "Press the center top of the compact tabletop bell.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Direct the left arm to click the top of the bell with metallic top and plastic base.",
+    "Click using the left arm on the white bell with black bottom's center."
+  ],
+  "unseen": [
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the lightweight bell with smooth surface."
+  ]
+}

click_bell/demo_diverse/instructions/episode45.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click using the right arm on the white and black colored bell's center.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Press down the white dome bell's top center gently.",
+    "Guide the right arm to click the white bell with black bottom's top center.",
+    "Ask the right arm to interact with the bell shaped like half-circle dome's top.",
+    "Press the bell with black flat base's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the bell with metallic top and plastic base.",
+    "Click the white dome bell's top center using the right arm.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Push the center of the white bell using the right arm.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Press the center top of the plastic and metal bell.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Direct the right arm to touch the plastic and metal bell's top.",
+    "Use the right arm to press the rounded bell with flat black part's top section.",
+    "Press down the top of the white bell using the right arm.",
+    "Press the top center of the white and black colored bell on table.",
+    "Press the center of the white dome bell using the right arm.",
+    "Command the right arm to press the bell with black flat base's top.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Tap the top center of the white bell.",
+    "Press the white bell's top center on the table.",
+    "Make the right arm interact with the bell shaped like half-circle dome's top center.",
+    "Have the right arm click at the bell shaped like half-circle dome's top center.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Click the white bell's <top center> using the right arm",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Use the right arm to touch the white bell's top center.",
+    "Click using the right arm on the plastic and metal bell's center.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Guide the right arm to click the compact tabletop bell's top center.",
+    "Ask the right arm to interact with the bell shaped like half-circle dome's top.",
+    "Press the rounded bell with flat black part's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the bell with black flat base.",
+    "Click the white dome bell's top center using the right arm.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Push the center of the small desk bell for tapping using the right arm.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Click the designated center of the plastic and metal bell.",
+    "Press the center top of the bell with black flat base.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Direct the right arm to touch the white dome bell's top.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Press down the top of the simple hand bell with black stand using the right arm.",
+    "Press the top center of the compact tabletop bell on table.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Tap the top center of the white and black colored bell.",
+    "Press the bell with black flat base's top center on the table.",
+    "Make the right arm interact with the plastic and metal bell's top center.",
+    "Have the right arm click at the simple hand bell with black stand's top center.",
+    "Click the white bell at its top center on table.",
+    "Click the small desk bell for tapping's <top center> using the right arm",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Click using the right arm on the bell with metallic top and plastic base's center.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Guide the right arm to click the small desk bell for tapping's top center.",
+    "Ask the right arm to interact with the plastic and metal bell's top.",
+    "Press the bell shaped like half-circle dome's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the white and black colored bell.",
+    "Click the white and black colored bell's top center using the right arm.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Push the center of the white dome bell using the right arm.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Press the center top of the white dome bell.",
+    "Click the top center of the white and black colored bell on table.",
+    "Direct the right arm to touch the white and black colored bell's top.",
+    "Use the right arm to press the rounded bell with flat black part's top section.",
+    "Press down the top of the bell with black flat base using the right arm.",
+    "Press the top center of the white bell on table.",
+    "Press the center of the rounded bell with flat black part using the right arm.",
+    "Command the right arm to press the small desk bell for tapping's top.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Press the specified top area of the white bell.",
+    "Tap the top center of the compact tabletop bell.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Make the right arm interact with the rounded bell with flat black part's top center.",
+    "Have the right arm click at the bell with black flat base's top center.",
+    "Click the white dome bell at its top center on table.",
+    "Click the bell with metallic top and plastic base's <top center> using the right arm",
+    "Push the white dome bell's <top center> on the table",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Click using the right arm on the white bell's center.",
+    "Tap the white bell's top center with the right arm.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Ask the right arm to interact with the plastic and metal bell's top.",
+    "Press the white bell with black bottom's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the simple hand bell with black stand."
+  ],
+  "unseen": [
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode46.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the specified top area of the bell with black flat base.",
+    "Click using the left arm on the white bell with black bottom's center.",
+    "Click the white dome bell at its top center on table.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Have the left arm click at the simple hand bell with black stand's top center.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Tap the top center of the plastic and metal bell.",
+    "Locate the white and black colored bell and click its top center.",
+    "Ask the left arm to interact with the white and black colored bell's top.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Direct the left arm to click the top of the bell with metallic top and plastic base.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Press down the top of the small desk bell for tapping using the left arm.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Press the top center of the compact tabletop bell on table.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Use the left arm to touch the white bell's top center.",
+    "Make the left arm interact with the bell shaped like half-circle dome's top center.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Press the rounded bell with flat black part's top center with the left arm firmly.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Click using the left arm on the bell with metallic top and plastic base's center.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Guide the left arm to click the plastic and metal bell's top center.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Have the left arm click at the bell with metallic top and plastic base's top center.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Ask the left arm to interact with the white and black colored bell's top.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Command the left arm to press the compact tabletop bell's top.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Press down the white and black colored bell's top center gently.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Direct the left arm to touch the compact tabletop bell's top.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Make the left arm interact with the plastic and metal bell's top center.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Press the compact tabletop bell's top center with the left arm firmly.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Click using the left arm on the white dome bell's center.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Press the bell with black flat base's top center on the table.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Ask the left arm to interact with the white bell with black bottom's top.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Press the center of the rounded bell with flat black part using the left arm.",
+    "Command the left arm to press the small desk bell for tapping's top.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Direct the left arm to click the top of the small desk bell for tapping.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Press down the top of the white dome bell using the left arm.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Press down the white dome bell's top center gently.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Click the compact tabletop bell's <top center> using the left arm",
+    "Tap the white bell's top center with the left arm.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Push the center of the white bell using the left arm.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Use the left arm to touch the white bell's top center.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Click the white bell's top center using the left arm.",
+    "Press the rounded bell with flat black part's top center with the left arm firmly.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Click using the left arm on the bell with metallic top and plastic base's center.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Have the left arm click at the white bell with black bottom's top center.",
+    "Click the designated center of the simple hand bell with black stand."
+  ],
+  "unseen": [
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode47.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the center of the bell with circular body using the right arm.",
+    "Click the designated center of the smooth blue bell.",
+    "Click the round bell's top center using the right arm.",
+    "Ask the right arm to interact with the blue dome-shaped bell's top.",
+    "Use the right arm to press the compact bell with round base's top section.",
+    "Press down the top of the bell with protruding knob using the right arm.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Have the right arm click at the bell with circular body's top center.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Use the right arm to touch the bell with brown base's top center.",
+    "Press the specified top area of the bell with circular body.",
+    "Push the center of the bell with circular body using the right arm.",
+    "Click the bell with circular body's <top center> using the right arm",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Guide the right arm to click the compact bell with round base's top center.",
+    "Direct the right arm to click the top of the bell with protruding knob.",
+    "Click using the right arm on the bell with brown base's center.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Press the compact bell with round base's top center with the right arm firmly.",
+    "Command the right arm to press the bell with protruding knob's top.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Press the blue bell's top center on the table.",
+    "Press the center top of the smooth blue bell.",
+    "Click the top center of the flat-topped bell on table.",
+    "Press down the flat-topped bell's top center gently.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Tap the top center of the bell with brown base.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Press the center of the brown-bottomed bell using the right arm.",
+    "Click the designated center of the round bell.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Ask the right arm to interact with the round bell's top.",
+    "Use the right arm to press the blue bell's top section.",
+    "Press down the top of the blue dome-shaped bell using the right arm.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Direct the right arm to touch the blue dome-shaped bell's top.",
+    "Have the right arm click at the blue dome-shaped bell's top center.",
+    "Click the bell with circular body at its top center on table.",
+    "Use the right arm to touch the compact bell with round base's top center.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Click the metal bell with plastic parts's <top center> using the right arm",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Guide the right arm to click the round bell's top center.",
+    "Direct the right arm to click the top of the blue bell.",
+    "Click using the right arm on the round bell's center.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Press the bell with circular body's top center with the right arm firmly.",
+    "Command the right arm to press the bell with circular body's top.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Press the center top of the bell with circular body.",
+    "Click the top center of the blue bell on table.",
+    "Press down the smooth blue bell's top center gently.",
+    "Locate the blue bell and click its top center.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Make the right arm interact with the smooth blue bell's top center.",
+    "Press the center of the bell with brown base using the right arm.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Click the round bell's top center using the right arm.",
+    "Ask the right arm to interact with the brown-bottomed bell's top.",
+    "Use the right arm to press the metal bell with plastic parts's top section.",
+    "Press down the top of the blue bell using the right arm.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Direct the right arm to touch the smooth blue bell's top.",
+    "Have the right arm click at the blue dome-shaped bell's top center.",
+    "Click the flat-topped bell at its top center on table.",
+    "Use the right arm to touch the blue dome-shaped bell's top center.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Click the blue dome-shaped bell's <top center> using the right arm",
+    "Tap the blue bell's top center with the right arm.",
+    "Guide the right arm to click the bell with protruding knob's top center.",
+    "Direct the right arm to click the top of the flat-topped bell.",
+    "Click using the right arm on the blue dome-shaped bell's center.",
+    "Tap the blue bell's top center with the right arm.",
+    "Press the blue dome-shaped bell's top center with the right arm firmly.",
+    "Command the right arm to press the round bell's top.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Press the blue bell's top center on the table.",
+    "Press the center top of the flat-topped bell.",
+    "Click the top center of the blue bell on table.",
+    "Press down the blue bell's top center gently.",
+    "Locate the compact bell with round base and click its top center.",
+    "Tap the top center of the blue bell.",
+    "Push the bell with brown base's <top center> on the table",
+    "Make the right arm interact with the smooth blue bell's top center.",
+    "Press the center of the flat-topped bell using the right arm.",
+    "Click the designated center of the bell with circular body.",
+    "Click the bell with circular body's top center using the right arm.",
+    "Ask the right arm to interact with the brown-bottomed bell's top.",
+    "Use the right arm to press the blue bell's top section.",
+    "Press down the top of the blue bell using the right arm.",
+    "Activate the flat-topped bell by pressing its top center."
+  ],
+  "unseen": [
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode48.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm interact with the bell with brown base's top center.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Press the center top of the blue dome-shaped bell.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Pinpoint the blue bell and click its top center.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Have the left arm click at the compact bell with round base's top center.",
+    "Click the top center of the round bell on table.",
+    "Click the designated center of the bell with brown base.",
+    "Direct the left arm to touch the blue bell's top.",
+    "Tap the top center of the bell with protruding knob.",
+    "Guide the left arm to click the smooth blue bell's top center.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Use the left arm to press the bell with protruding knob's top section.",
+    "Command the left arm to press the smooth blue bell's top.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Click the smooth blue bell at its top center on table.",
+    "Ask the left arm to interact with the bell with circular body's top.",
+    "Use the left arm to touch the small blue and brown bell's top center.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Locate the flat-topped bell and click its top center.",
+    "Press the top center of the blue bell on table.",
+    "Push the center of the round bell using the left arm.",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Click using the left arm on the blue bell's center.",
+    "Press down the top of the blue dome-shaped bell using the left arm.",
+    "Press the flat-topped bell's top center on the table.",
+    "Direct the left arm to click the top of the compact bell with round base.",
+    "Make the left arm interact with the bell with brown base's top center.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Press the center top of the flat-topped bell.",
+    "Press the specified top area of the smooth blue bell.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Have the left arm click at the brown-bottomed bell's top center.",
+    "Click the top center of the smooth blue bell on table.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Direct the left arm to touch the bell with circular body's top.",
+    "Tap the top center of the flat-topped bell.",
+    "Guide the left arm to click the flat-topped bell's top center.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Press the center of the blue dome-shaped bell using the left arm.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Use the left arm to press the blue dome-shaped bell's top section.",
+    "Command the left arm to press the blue dome-shaped bell's top.",
+    "Press the flat-topped bell's top center with the left arm firmly.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Use the left arm to touch the bell with protruding knob's top center.",
+    "Push the blue bell's <top center> on the table",
+    "Locate the bell with circular body and click its top center.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Push the center of the round bell using the left arm.",
+    "Click the flat-topped bell's top center using the left arm.",
+    "Click using the left arm on the bell with protruding knob's center.",
+    "Press down the top of the metal bell with plastic parts using the left arm.",
+    "Press the bell with brown base's top center on the table.",
+    "Direct the left arm to click the top of the blue dome-shaped bell.",
+    "Make the left arm interact with the blue dome-shaped bell's top center.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Press the center top of the round bell.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Pinpoint the blue bell and click its top center.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Have the left arm click at the flat-topped bell's top center.",
+    "Click the top center of the flat-topped bell on table.",
+    "Click the designated center of the bell with brown base.",
+    "Direct the left arm to touch the bell with circular body's top.",
+    "Tap the top center of the bell with protruding knob.",
+    "Guide the left arm to click the compact bell with round base's top center.",
+    "Tap the blue bell's top center with the left arm.",
+    "Press the center of the round bell using the left arm.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Use the left arm to press the blue dome-shaped bell's top section.",
+    "Command the left arm to press the bell with circular body's top.",
+    "Press the round bell's top center with the left arm firmly.",
+    "Click the compact bell with round base at its top center on table.",
+    "Ask the left arm to interact with the smooth blue bell's top.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Push the blue bell's <top center> on the table",
+    "Locate the round bell and click its top center.",
+    "Press the top center of the bell with circular body on table.",
+    "Push the center of the smooth blue bell using the left arm.",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Click using the left arm on the small blue and brown bell's center.",
+    "Press down the top of the blue dome-shaped bell using the left arm.",
+    "Press the smooth blue bell's top center on the table.",
+    "Direct the left arm to click the top of the blue dome-shaped bell.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Click the bell with brown base's <top center> using the left arm",
+    "Press the center top of the round bell.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Have the left arm click at the bell with protruding knob's top center."
+  ],
+  "unseen": [
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode49.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press down the top of the white bell using the left arm.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Direct the left arm to click the top of the plastic and metal bell.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Make the left arm interact with the bell shaped like half-circle dome's top center.",
+    "Ask the left arm to interact with the white bell's top.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Use the left arm to touch the small desk bell for tapping's top center.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Click the rounded bell with flat black part's top center using the left arm.",
+    "Click using the left arm on the white bell with black bottom's center.",
+    "Locate the white and black colored bell and click its top center.",
+    "Click the bell with black flat base's <top center> using the left arm",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Tap the top center of the white bell with black bottom.",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Click the top center of the white bell on table.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Click the bell with black flat base at its top center on table.",
+    "Press down the top of the bell shaped like half-circle dome using the left arm.",
+    "Tap the white bell's top center with the left arm.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Press the plastic and metal bell's top center on the table.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Ask the left arm to interact with the bell shaped like half-circle dome's top.",
+    "Command the left arm to press the compact tabletop bell's top.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Use the left arm to touch the small desk bell for tapping's top center.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Activate the white bell by pressing its top center.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Press down the top of the white bell with black bottom using the left arm.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Press the top center of the white bell on table.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Press the specified top area of the white and black colored bell.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Press the plastic and metal bell's top center on the table.",
+    "Make the left arm interact with the white dome bell's top center.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Use the left arm to press the bell with metallic top and plastic base's top section.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Click the rounded bell with flat black part's top center using the left arm.",
+    "Click using the left arm on the white bell's center.",
+    "Locate the white bell and click its top center.",
+    "Click the white bell's <top center> using the left arm",
+    "Press the center of the white dome bell using the left arm.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Tap the top center of the white dome bell.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Click the top center of the bell with black flat base on table.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Press down the top of the simple hand bell with black stand using the left arm.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Press the top center of the white and black colored bell on table.",
+    "Press the center top of the bell with black flat base.",
+    "Direct the left arm to click the top of the white bell with black bottom.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Press the white bell with black bottom's top center with the left arm firmly."
+  ],
+  "unseen": [
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface."
+  ]
+}

click_bell/demo_diverse/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Press the center of the plastic and metal bell using the left arm.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Press the specified top area of the bell with black flat base.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Command the left arm to press the rounded bell with flat black part's top.",
+    "Press the bell with black flat base's top center on the table.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Tap the top center of the bell with black flat base.",
+    "Click the top center of the white and black colored bell on table.",
+    "Press the center top of the white bell with black bottom.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Click the small desk bell for tapping's <top center> using the left arm",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Press down the top of the simple hand bell with black stand using the left arm.",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Click using the left arm on the white bell with black bottom's center.",
+    "Use the left arm to press the compact tabletop bell's top section.",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Command the left arm to press the bell shaped like half-circle dome's top.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Locate the white dome bell and click its top center.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Press the center top of the compact tabletop bell.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Press the bell with metallic top and plastic base's top center with the left arm firmly.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Direct the left arm to click the top of the bell with black flat base.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center.",
+    "Press the center of the plastic and metal bell using the left arm.",
+    "Pinpoint the white bell and click its top center.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Command the left arm to press the simple hand bell with black stand's top.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Press down the white bell's top center gently.",
+    "Direct the left arm to touch the rounded bell with flat black part's top.",
+    "Click the designated center of the white bell with black bottom.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Press down the top of the white and black colored bell using the left arm.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Press the white bell's top center with the left arm firmly.",
+    "Click using the left arm on the plastic and metal bell's center.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Ask the left arm to interact with the bell shaped like half-circle dome's top.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Direct the left arm to click the top of the bell with metallic top and plastic base.",
+    "Use the left arm to touch the small desk bell for tapping's top center.",
+    "Press the center of the rounded bell with flat black part using the left arm.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Push the white dome bell's <top center> on the table"
+  ],
+  "unseen": [
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table."
+  ]
+}

click_bell/demo_diverse/instructions/episode50.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the specified top area of the small blue and brown bell.",
+    "Push the center of the round bell using the right arm.",
+    "Click the designated center of the round bell.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Direct the right arm to touch the flat-topped bell's top.",
+    "Press down the top of the small blue and brown bell using the right arm.",
+    "Use the right arm to press the brown-bottomed bell's top section.",
+    "Click the top center of the compact bell with round base on table.",
+    "Ask the right arm to interact with the metal bell with plastic parts's top.",
+    "Click the flat-topped bell's <top center> using the right arm",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Click the round bell at its top center on table.",
+    "Locate the bell with brown base and click its top center.",
+    "Have the right arm click at the bell with circular body's top center.",
+    "Press the center top of the bell with circular body.",
+    "Press the center of the bell with brown base using the right arm.",
+    "Activate the blue dome-shaped bell by pressing its top center.",
+    "Press the bell with circular body's top center on the table.",
+    "Command the right arm to press the round bell's top.",
+    "Guide the right arm to click the bell with brown base's top center.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Click using the right arm on the bell with brown base's center.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Click the bell with brown base's top center using the right arm.",
+    "Direct the right arm to click the top of the smooth blue bell.",
+    "Press down the round bell's top center gently.",
+    "Use the right arm to touch the blue dome-shaped bell's top center.",
+    "Press the bell with circular body's top center with the right arm firmly.",
+    "Make the right arm interact with the flat-topped bell's top center.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Push the center of the smooth blue bell using the right arm.",
+    "Click the designated center of the smooth blue bell.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Press the top center of the bell with circular body on table.",
+    "Direct the right arm to touch the bell with circular body's top.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Use the right arm to press the smooth blue bell's top section.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Ask the right arm to interact with the flat-topped bell's top.",
+    "Click the brown-bottomed bell's <top center> using the right arm",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Locate the bell with circular body and click its top center.",
+    "Have the right arm click at the small blue and brown bell's top center.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Press the center of the compact bell with round base using the right arm.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Press the flat-topped bell's top center on the table.",
+    "Command the right arm to press the small blue and brown bell's top.",
+    "Guide the right arm to click the bell with protruding knob's top center.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Click the blue bell's top center using the right arm.",
+    "Direct the right arm to click the top of the blue dome-shaped bell.",
+    "Press down the compact bell with round base's top center gently.",
+    "Use the right arm to touch the smooth blue bell's top center.",
+    "Press the blue bell's top center with the right arm firmly.",
+    "Make the right arm interact with the compact bell with round base's top center.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Push the center of the metal bell with plastic parts using the right arm.",
+    "Click the designated center of the smooth blue bell.",
+    "Pinpoint the round bell and click its top center.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Direct the right arm to touch the small blue and brown bell's top.",
+    "Press down the top of the blue dome-shaped bell using the right arm.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Ask the right arm to interact with the compact bell with round base's top.",
+    "Click the blue dome-shaped bell's <top center> using the right arm",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Click the compact bell with round base at its top center on table.",
+    "Locate the smooth blue bell and click its top center.",
+    "Have the right arm click at the small blue and brown bell's top center.",
+    "Press the center top of the compact bell with round base.",
+    "Press the center of the smooth blue bell using the right arm.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Press the compact bell with round base's top center on the table.",
+    "Command the right arm to press the bell with brown base's top.",
+    "Guide the right arm to click the bell with brown base's top center.",
+    "Tap the top center of the small blue and brown bell.",
+    "Click using the right arm on the blue dome-shaped bell's center.",
+    "Push the blue bell's <top center> on the table",
+    "Click the small blue and brown bell's top center using the right arm.",
+    "Direct the right arm to click the top of the small blue and brown bell.",
+    "Press down the flat-topped bell's top center gently.",
+    "Use the right arm to touch the small blue and brown bell's top center.",
+    "Press the blue bell's top center with the right arm firmly.",
+    "Make the right arm interact with the bell with circular body's top center.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Click the designated center of the compact bell with round base.",
+    "Pinpoint the blue bell and click its top center.",
+    "Press the top center of the bell with brown base on table.",
+    "Direct the right arm to touch the bell with circular body's top.",
+    "Press down the top of the bell with circular body using the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center."
+  ]
+}

click_bell/demo_diverse/instructions/episode52.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the center of the bell with brown base using the right arm.",
+    "Click the designated center of the round bell.",
+    "Press down the top of the compact bell with round base using the right arm.",
+    "Press the top center of the bell with brown base on table.",
+    "Ask the right arm to interact with the flat-topped bell's top.",
+    "Command the right arm to press the blue bell's top.",
+    "Tap the bell with circular body's top center with the right arm.",
+    "Make the right arm interact with the small blue and brown bell's top center.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Use the right arm to press the bell with brown base's top section.",
+    "Locate the compact bell with round base and click its top center.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Press the bell with circular body's top center on the table.",
+    "Tap the top center of the bell with brown base.",
+    "Push the center of the metal bell with plastic parts using the right arm.",
+    "Direct the right arm to touch the metal bell with plastic parts's top.",
+    "Use the right arm to touch the round bell's top center.",
+    "Click the round bell at its top center on table.",
+    "Push the bell with circular body's <top center> on the table",
+    "Press the center top of the blue dome-shaped bell.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Click using the right arm on the bell with circular body's center.",
+    "Direct the right arm to click the top of the smooth blue bell.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Guide the right arm to click the smooth blue bell's top center.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Click the bell with circular body's <top center> using the right arm",
+    "Press the bell with brown base's top center with the right arm firmly.",
+    "Have the right arm click at the compact bell with round base's top center.",
+    "Press the center of the bell with brown base using the right arm.",
+    "Click the designated center of the bell with protruding knob.",
+    "Press down the top of the smooth blue bell using the right arm.",
+    "Press the top center of the round bell on table.",
+    "Ask the right arm to interact with the metal bell with plastic parts's top.",
+    "Command the right arm to press the round bell's top.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Make the right arm interact with the bell with protruding knob's top center.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Use the right arm to press the smooth blue bell's top section.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Click the round bell's top center using the right arm.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Direct the right arm to touch the compact bell with round base's top.",
+    "Use the right arm to touch the bell with brown base's top center.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Press the center top of the blue dome-shaped bell.",
+    "Click the top center of the compact bell with round base on table.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Click using the right arm on the brown-bottomed bell's center.",
+    "Direct the right arm to click the top of the brown-bottomed bell.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Guide the right arm to click the brown-bottomed bell's top center.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Click the blue dome-shaped bell's <top center> using the right arm",
+    "Press the flat-topped bell's top center with the right arm firmly.",
+    "Have the right arm click at the bell with protruding knob's top center.",
+    "Press the center of the bell with circular body using the right arm.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Press down the top of the brown-bottomed bell using the right arm.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Ask the right arm to interact with the brown-bottomed bell's top.",
+    "Command the right arm to press the round bell's top.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Make the right arm interact with the metal bell with plastic parts's top center.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Use the right arm to press the bell with brown base's top section.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Click the bell with brown base's top center using the right arm.",
+    "Press the blue bell's top center on the table.",
+    "Tap the top center of the small blue and brown bell.",
+    "Push the center of the brown-bottomed bell using the right arm.",
+    "Direct the right arm to touch the brown-bottomed bell's top.",
+    "Use the right arm to touch the compact bell with round base's top center.",
+    "Click the flat-topped bell at its top center on table.",
+    "Push the bell with circular body's <top center> on the table",
+    "Press the center top of the compact bell with round base.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Click using the right arm on the bell with circular body's center.",
+    "Direct the right arm to click the top of the bell with circular body.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Guide the right arm to click the small blue and brown bell's top center.",
+    "Press down the smooth blue bell's top center gently.",
+    "Press the specified top area of the flat-topped bell.",
+    "Click the blue bell's <top center> using the right arm",
+    "Press the metal bell with plastic parts's top center with the right arm firmly.",
+    "Have the right arm click at the brown-bottomed bell's top center.",
+    "Press the center of the brown-bottomed bell using the right arm.",
+    "Click the designated center of the flat-topped bell.",
+    "Press down the top of the small blue and brown bell using the right arm.",
+    "Press the top center of the bell with brown base on table.",
+    "Ask the right arm to interact with the blue bell's top.",
+    "Command the right arm to press the blue dome-shaped bell's top.",
+    "Tap the bell with protruding knob's top center with the right arm."
+  ],
+  "unseen": [
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the blue bell with glossy finish."
+  ]
+}

click_bell/demo_diverse/instructions/episode53.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the top center of the bell with black flat base.",
+    "Press the white and black colored bell's top center with the right arm firmly.",
+    "Click the designated center of the bell with black flat base.",
+    "Press the specified top area of the white bell.",
+    "Press the top center of the white and black colored bell on table.",
+    "Click the bell shaped like half-circle dome's <top center> using the right arm",
+    "Press the center of the rounded bell with flat black part using the right arm.",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Click the rounded bell with flat black part's top center using the right arm.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Ask the right arm to interact with the simple hand bell with black stand's top.",
+    "Command the right arm to press the white bell with black bottom's top.",
+    "Use the right arm to touch the white bell's top center.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Direct the right arm to click the top of the compact tabletop bell.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Use the right arm to press the white dome bell's top section.",
+    "Press down the top of the rounded bell with flat black part using the right arm.",
+    "Push the center of the white bell using the right arm.",
+    "Click using the right arm on the white bell with black bottom's center.",
+    "Make the right arm interact with the rounded bell with flat black part's top center.",
+    "Click the white and black colored bell at its top center on table.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Click the top center of the white and black colored bell on table.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Have the right arm click at the bell with black flat base's top center.",
+    "Tap the top center of the plastic and metal bell.",
+    "Press the white and black colored bell's top center with the right arm firmly.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Press the specified top area of the bell with black flat base.",
+    "Press the top center of the white and black colored bell on table.",
+    "Click the white bell's <top center> using the right arm",
+    "Press the center of the compact tabletop bell using the right arm.",
+    "Guide the right arm to click the compact tabletop bell's top center.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Click the simple hand bell with black stand's top center using the right arm.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Ask the right arm to interact with the bell shaped like half-circle dome's top.",
+    "Command the right arm to press the bell with black flat base's top.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Direct the right arm to click the top of the rounded bell with flat black part.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Press the center top of the bell with black flat base.",
+    "Use the right arm to press the simple hand bell with black stand's top section.",
+    "Press down the top of the bell with black flat base using the right arm.",
+    "Push the center of the bell with metallic top and plastic base using the right arm.",
+    "Click using the right arm on the simple hand bell with black stand's center.",
+    "Make the right arm interact with the white bell with black bottom's top center.",
+    "Click the bell with black flat base at its top center on table.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Direct the right arm to touch the white dome bell's top.",
+    "Have the right arm click at the rounded bell with flat black part's top center.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Press the bell shaped like half-circle dome's top center with the right arm firmly.",
+    "Click the designated center of the compact tabletop bell.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Click the white bell with black bottom's <top center> using the right arm",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Guide the right arm to click the white bell's top center.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Click the white bell's top center using the right arm.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Press the plastic and metal bell's top center on the table.",
+    "Ask the right arm to interact with the compact tabletop bell's top.",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Use the right arm to touch the small desk bell for tapping's top center.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Direct the right arm to click the top of the plastic and metal bell.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Press the center top of the bell with black flat base.",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Press down the top of the white dome bell using the right arm.",
+    "Push the center of the compact tabletop bell using the right arm.",
+    "Click using the right arm on the white bell with black bottom's center.",
+    "Make the right arm interact with the rounded bell with flat black part's top center.",
+    "Click the bell with black flat base at its top center on table.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Click the top center of the white and black colored bell on table.",
+    "Direct the right arm to touch the white bell with black bottom's top.",
+    "Have the right arm click at the simple hand bell with black stand's top center.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Press the white bell with black bottom's top center with the right arm firmly.",
+    "Click the designated center of the white bell with black bottom.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Press the top center of the bell with black flat base on table.",
+    "Click the white bell with black bottom's <top center> using the right arm",
+    "Press the center of the bell with metallic top and plastic base using the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top."
+  ]
+}