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lift_pot/ur5_randomized_500/instructions/episode10.json

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+{
+  "seen": [
+    "Raise the gray kitchenpot with strong support",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Take hold of the gray kitchenpot and lift up",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Grab the metal kitchenpot and lift together",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Raise the gray cylindrical metal kitchenpot using both arms",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Pick up the cooking kitchenpot with side grips with both arms",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Lift the gray kitchenpot up together",
+    "Both arms lift the gray kitchenpot upright",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Hold the gray kitchenpot and lift upward",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Grab the metal kitchenpot using both arms",
+    "Lift the gray kitchenpot using both arms now.",
+    "Raise the metal kitchenpot together with arms",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Hold the kitchenpot with smooth exterior firmly and lift it",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Use arms to lift the metal kitchenpot upward",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Hold and raise the round kitchenpot with handles together",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Engage arms to grip and lift the smooth gray kitchenpot.",
+    "Bring the metal kitchenpot up together",
+    "Securely lift the medium-sized kitchenpot together",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Raise and hold the gray kitchenpot together",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Bring the round kitchenpot with handles upwards together",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Lift the metal kitchenpot upward and hold it",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Hold and raise the metal kitchenpot together",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Pick up the gray kitchenpot with both arms",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Both arms lift the gray kitchenpot upright",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Hold the gray kitchenpot firmly with arms",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Raise the metal kitchenpot securely with arms",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Bring the kitchenpot with smooth exterior up together",
+    "Securely lift the cylindrical kitchenpot together",
+    "Lift the dark gray stove kitchenpot up using your arms"
+  ],
+  "unseen": [
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms."
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode125.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the gray kitchenpot up using your arms",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Raise the cylindrical kitchenpot together with arms",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Raise and hold the gray kitchenpot together",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Secure the gray kitchenpot and lift upward.",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Bring the metal kitchenpot up together",
+    "Hold the gray kitchenpot with both arms",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Lift the gray kitchenpot carefully using arms",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Support the metal kitchenpot and raise it upward",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Raise the metal kitchenpot securely with arms",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Grab the gray kitchenpot using both arms",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Lift the metal kitchenpot steadily with support",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Hold the metal kitchenpot with both arms",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Carry the gray kitchenpot securely using arms",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Lift the metal kitchenpot upwards with care",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Grab the gray kitchenpot and lift together",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Securely lift the metal kitchenpot together",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Hold the kitchenpot with smooth exterior firmly and lift it",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Lift the gray kitchenpot steadily using arms",
+    "Raise the gray kitchenpot securely with arms",
+    "Lift the smooth gray kitchenpot up together",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Use arms to lift the medium-sized kitchenpot upward"
+  ],
+  "unseen": [
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode163.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Raise the gray kitchenpot together using arms",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Engage arms to grip and lift the smooth gray kitchenpot.",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Hold the dark gray stove kitchenpot firmly and move upward.",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Raise and hold the round kitchenpot with handles together",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Support the cooking kitchenpot with side grips and raise it upward",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Raise the round kitchenpot with handles using both arms",
+    "Secure the gray kitchenpot and lift upward.",
+    "Take hold of the metal kitchenpot and lift up",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Both arms lift the medium kitchenpot made of metal upright",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Lift the cylindrical kitchenpot up together",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Bring the smooth gray kitchenpot up together",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Pick up the metal kitchenpot with both arms",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Lift the gray kitchenpot carefully using arms",
+    "Hold the gray kitchenpot firmly with arms",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Grab the gray kitchenpot and lift together",
+    "Lift the metal kitchenpot upwards with care",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Lift the medium-sized kitchenpot steadily with support",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Hold and raise the metal kitchenpot together",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Use both arms to raise the metal kitchenpot.",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Securely lift the metal kitchenpot together",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Raise and hold the gray kitchenpot together",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Hold the gray kitchenpot and lift upward",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Lift the smooth gray kitchenpot upward with both arms",
+    "Lift the metal kitchenpot up together",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Hold and raise the round kitchenpot with handles together",
+    "Pick up the gray kitchenpot with both arms",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Grab the dark gray stove kitchenpot and lift together"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode172.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and raise the medium-sized kitchenpot together",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Raise the round kitchenpot with handles using both arms",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Place hands on the metal kitchenpot, then lift.",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Use both arms to raise the gray kitchenpot.",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Raise the gray kitchenpot steadily using arms",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Raise the cooking kitchenpot with side grips together using arms",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Hold the cooking kitchenpot with side grips firmly with arms",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Lift the dark gray stove kitchenpot upward and hold it",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Use arms to lift the cylindrical kitchenpot upward",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Raise the gray kitchenpot securely with arms",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Grab the metal kitchenpot and lift together",
+    "Lift the medium kitchenpot made of metal steadily using arms",
+    "Hold the dark gray stove kitchenpot and lift upward",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Lift the medium-sized kitchenpot carefully using both arms.",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Grab the gray kitchenpot and lift it upwards",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Raise the gray kitchenpot together using arms",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Lift the metal kitchenpot carefully using arms",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Bring the smooth gray kitchenpot up together",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Raise and hold the metal kitchenpot together",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Take hold of the metal kitchenpot and lift up",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Bring the gray kitchenpot upwards together"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode185.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Bring the medium kitchenpot made of metal up together",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Raise the metal kitchenpot evenly with arms",
+    "Securely lift the metal kitchenpot together",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Raise the gray kitchenpot with strong support",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Lift the medium-sized kitchenpot steadily with support",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Grab the round kitchenpot with handles and lift together",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Lift the metal kitchenpot carefully using arms",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Bring the round kitchenpot with handles upwards together",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Use both arms to raise the metal kitchenpot",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Support the metal kitchenpot and raise it upward",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Bring the metal kitchenpot up together",
+    "Hold the metal kitchenpot firmly with arms",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Hold and raise the gray kitchenpot together",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Carry the cooking kitchenpot with side grips securely using arms",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Raise the metal kitchenpot together with arms",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Lift the metal kitchenpot steadily using arms",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Raise the metal kitchenpot together using arms",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Secure the smooth gray kitchenpot and lift it up",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Use arms to lift the metal kitchenpot upward",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Grab the medium kitchenpot made of metal and lift it upwards",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Bring the round kitchenpot with handles upwards together",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Pick up the cylindrical kitchenpot with both arms"
+  ],
+  "unseen": [
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode190.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Pick up the gray kitchenpot with both arms",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Lift the dark gray stove kitchenpot up together",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Bring the medium kitchenpot made of metal up together",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Lift the gray kitchenpot using both arms now.",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Grab the gray cylindrical metal kitchenpot and lift it upwards",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Carry the gray kitchenpot securely using arms",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Hold the round kitchenpot with handles with both arms",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Secure the metal kitchenpot and lift upward.",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Pick up the metal kitchenpot with both arms",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Lift the metal kitchenpot upward and hold it",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Use arms to lift the metal kitchenpot upward",
+    "Use both arms to raise the gray kitchenpot",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Lift the round kitchenpot with handles up together",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Hold and raise the round kitchenpot with handles together",
+    "Bring the gray kitchenpot up together",
+    "Lift the dark gray stove kitchenpot upward with both arms",
+    "Lift the cylindrical kitchenpot carefully using arms",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Lift the kitchenpot with smooth exterior using both arms now.",
+    "Raise the metal kitchenpot upward with both hands",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Raise the round kitchenpot with handles with strong support",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Carry the metal kitchenpot securely using arms",
+    "Grip the gray cylindrical metal kitchenpot firmly and lift",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Hold the round kitchenpot with handles with both arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Support the metal kitchenpot and raise it upward",
+    "Lift the metal kitchenpot upwards with care",
+    "Securely lift the medium-sized kitchenpot together",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Bring the metal kitchenpot upwards together",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Secure the medium-sized kitchenpot and lift upward."
+  ],
+  "unseen": [
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the dark gray cooking kitchenpot"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode192.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Lift the metal kitchenpot upward with both arms",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Raise and hold the metal kitchenpot together",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Hold and raise the smooth gray kitchenpot together",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Use both arms to raise the smooth gray kitchenpot",
+    "Raise the metal kitchenpot using both arms",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Hold the gray kitchenpot and lift upward",
+    "Lift the medium-sized kitchenpot steadily with support",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Use arms to lift the metal kitchenpot upward",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Raise the metal kitchenpot together using arms",
+    "Raise the kitchenpot with smooth exterior upward with both hands",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Raise the dark gray stove kitchenpot with strong support",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Hold the medium-sized kitchenpot firmly with arms",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Bring the cooking kitchenpot with side grips up together",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Lift the metal kitchenpot up together",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Carry the metal kitchenpot securely using arms",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Lift the gray kitchenpot using both arms now.",
+    "Bring the metal kitchenpot upwards together",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Securely lift the round kitchenpot with handles together",
+    "Lift the metal kitchenpot upwards with care",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Use arms to lift the gray kitchenpot upward",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Grab the round kitchenpot with handles using both arms",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Hold the cooking kitchenpot with side grips firmly with arms",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Pick up the metal kitchenpot with both arms",
+    "Bring the kitchenpot with smooth exterior up together",
+    "Lift the dark gray stove kitchenpot carefully using arms"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the gray kitchenpot with rounded edges up"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode208.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the kitchenpot for boiling and cooking upwards with care",
+    "Carry the round kitchenpot with handles securely using arms",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Raise the round kitchenpot with handles using both arms",
+    "Hold the round kitchenpot with handles and lift upward",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Lift the dark gray stove kitchenpot up using your arms",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Bring the smooth gray kitchenpot up together",
+    "Raise the round kitchenpot with handles with strong support",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Lift the gray kitchenpot upward and hold it",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Hold the kitchenpot for boiling and cooking firmly, then lift.",
+    "Lift the gray kitchenpot steadily with support",
+    "Grab the gray kitchenpot and lift together",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Raise the round kitchenpot with handles together using arms",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Hold and raise the cooking kitchenpot with side grips together",
+    "Grasp the metal kitchenpot and elevate together.",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Lift the medium kitchenpot made of metal up together",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "Securely lift the smooth gray kitchenpot together",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Use both arms to raise the metal kitchenpot.",
+    "Lift the gray kitchenpot carefully using arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Support the kitchenpot for boiling and cooking and raise it upward",
+    "Raise the metal kitchenpot together with arms",
+    "Use arms to lift the gray cylindrical metal kitchenpot upward",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Lift the gray kitchenpot up using your arms",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Bring the medium-sized kitchenpot up together",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Engage arms to grip and lift the medium-sized kitchenpot.",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Hold the medium kitchenpot made of metal firmly and lift it",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Lift the round kitchenpot with handles steadily with support",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Lift the cylindrical kitchenpot up together",
+    "Secure the dark gray stove kitchenpot and lift upward.",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Raise the gray kitchenpot evenly with arms",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Grip the smooth gray kitchenpot firmly and lift",
+    "Use both arms to raise the metal kitchenpot.",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Raise the metal kitchenpot steadily using arms",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Use arms to lift the gray kitchenpot upward",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Grab the smooth gray kitchenpot and lift it up"
+  ],
+  "unseen": [
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode22.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Raise the cylindrical kitchenpot with strong support",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Lift the medium-sized kitchenpot up together",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Bring the gray kitchenpot upwards together",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Hold the metal kitchenpot and lift upward",
+    "Raise the kitchenpot for boiling and cooking securely with arms",
+    "Raise the dark gray stove kitchenpot using both arms",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Use both arms to raise the kitchenpot with smooth exterior.",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Pick up the gray cylindrical metal kitchenpot with both arms",
+    "Carry the gray kitchenpot securely using arms",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Lift the metal kitchenpot upward and hold it",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Hold and raise the metal kitchenpot together",
+    "Bring the smooth gray kitchenpot up together",
+    "Raise the gray kitchenpot together using arms",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Hold and raise the metal kitchenpot together",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Grab the medium kitchenpot made of metal using both arms",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Hold the metal kitchenpot firmly and lift it",
+    "Raise the medium kitchenpot made of metal upward with both hands",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Raise the medium-sized kitchenpot using both arms",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Hold the gray kitchenpot firmly with arms",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Pick up the gray kitchenpot with both arms",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Grab the medium-sized kitchenpot and lift together",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Raise and hold the gray kitchenpot together",
+    "Use both arms to raise the metal kitchenpot",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Securely lift the dark gray stove kitchenpot together",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Lift the kitchenpot with smooth exterior upward and hold it",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Hold and raise the metal kitchenpot together",
+    "Bring the metal kitchenpot up together",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Grab the kitchenpot for boiling and cooking and lift it up"
+  ],
+  "unseen": [
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms."
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode261.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Grab the smooth gray kitchenpot and lift together",
+    "Grab the kitchenpot for boiling and cooking and lift it up",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Carry the kitchenpot for boiling and cooking securely using arms",
+    "Lift the metal kitchenpot steadily with support",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Lift the metal kitchenpot upwards with care",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Secure the gray kitchenpot and lift it up",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Lift the cylindrical kitchenpot up together",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Grasp the gray cylindrical metal kitchenpot and elevate together.",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Raise the round kitchenpot with handles using both arms",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Grip the cooking kitchenpot with side grips firmly and lift",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Place hands on the kitchenpot for boiling and cooking, then lift.",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Raise and hold the metal kitchenpot together",
+    "Bring the cylindrical kitchenpot upwards together",
+    "Grab the round kitchenpot with handles and lift together",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Support the metal kitchenpot and raise it upward",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Carry the gray kitchenpot securely using arms",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Lift the medium kitchenpot made of metal using both arms now.",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Securely lift the medium-sized kitchenpot together",
+    "Use both arms to raise the metal kitchenpot",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Raise the gray cylindrical metal kitchenpot with strong support",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Hold the cooking kitchenpot with side grips firmly with arms",
+    "Bring the smooth gray kitchenpot up together",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Grasp the cooking kitchenpot with side grips and elevate together.",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Lift the gray kitchenpot upward with both arms",
+    "Hold the gray cylindrical metal kitchenpot and lift upward",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Lift the metal kitchenpot carefully using arms",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Place hands on the smooth gray kitchenpot, then lift.",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Raise and hold the dark gray stove kitchenpot together"
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles upward using arms."
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode302.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the metal kitchenpot with both arms",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Pick up the kitchenpot for boiling and cooking with both arms",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Secure the gray kitchenpot and lift it up",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Grip the metal kitchenpot firmly and lift",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Use both arms to raise the gray kitchenpot",
+    "Raise the gray kitchenpot upward with both hands",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Bring the medium kitchenpot made of metal up together",
+    "Hold and raise the round kitchenpot with handles together",
+    "Place hands on the dark gray stove kitchenpot, then lift.",
+    "Lift the metal kitchenpot upwards with care",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Hold the metal kitchenpot firmly with arms",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Engage arms to grip and lift the cylindrical kitchenpot.",
+    "Hold the gray cylindrical metal kitchenpot and lift upward",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Support the cylindrical kitchenpot and raise it upward",
+    "Raise the metal kitchenpot evenly with arms",
+    "Raise the round kitchenpot with handles together using arms",
+    "Lift the smooth gray kitchenpot up together",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Use arms to lift the metal kitchenpot upward",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Use both arms to raise the gray kitchenpot.",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Bring the kitchenpot with smooth exterior upwards together",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "With arms, raise the round kitchenpot with handles upward slowly.",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Grab the cylindrical kitchenpot and lift together",
+    "Hold the round kitchenpot with handles with both arms",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Securely lift the kitchenpot with smooth exterior together",
+    "Pick up the dark gray stove kitchenpot with both arms",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Lift the gray kitchenpot steadily with support",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Carry the metal kitchenpot securely using arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Hold and raise the cylindrical kitchenpot together",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Raise the kitchenpot for boiling and cooking steadily using arms",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "Raise the gray kitchenpot using both arms",
+    "Engage arms to grip and lift the dark gray stove kitchenpot.",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Both arms lift the gray cylindrical metal kitchenpot upright",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Raise the cylindrical kitchenpot evenly with arms",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Raise the round kitchenpot with handles with strong support",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Use arms to lift the gray kitchenpot upward",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Lift the gray kitchenpot using both arms now.",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Bring the dark gray stove kitchenpot upwards together",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Grab the cooking kitchenpot with side grips and lift together"
+  ],
+  "unseen": [
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Use both arms for the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Use both arms for the dark gray cooking kitchenpot"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode304.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Raise and hold the metal kitchenpot together",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Take hold of the gray kitchenpot and lift up",
+    "Bring the cooking kitchenpot with side grips upwards together",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Raise the kitchenpot with smooth exterior securely with arms",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Grab the round kitchenpot with handles using both arms",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Lift the round kitchenpot with handles up together",
+    "Securely lift the gray kitchenpot together",
+    "Use both arms to raise the metal kitchenpot.",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise the kitchenpot for boiling and cooking using both arms",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "With arms, raise the gray kitchenpot upward slowly.",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Raise the cylindrical kitchenpot together using arms",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Both arms lift the gray kitchenpot upright",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Lift the round kitchenpot with handles upward and hold it",
+    "Lift the gray kitchenpot steadily using arms",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Pick up the medium-sized kitchenpot with both arms",
+    "Bring the round kitchenpot with handles up together",
+    "Raise the cooking kitchenpot with side grips upward with both hands",
+    "Raise the gray kitchenpot with strong support",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Raise the kitchenpot with smooth exterior steadily using arms",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Take hold of the smooth gray kitchenpot and lift up",
+    "Bring the gray kitchenpot upwards together",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Pick up the kitchenpot with smooth exterior with careful lifting",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Use arms to lift the dark gray stove kitchenpot upward",
+    "Raise the gray cylindrical metal kitchenpot securely with arms",
+    "Hold the gray kitchenpot with both arms",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Lift the smooth gray kitchenpot up together",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Use both arms to raise the smooth gray kitchenpot.",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Hold and raise the round kitchenpot with handles together",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Grasp the kitchenpot for boiling and cooking and elevate together.",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Hold the gray kitchenpot firmly and move upward.",
+    "Both arms lift the cylindrical kitchenpot upright",
+    "Grab the gray kitchenpot and lift it up",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Lift the cooking kitchenpot with side grips upward and hold it",
+    "Lift the kitchenpot with smooth exterior steadily using arms",
+    "Lift the medium kitchenpot made of metal carefully using arms",
+    "Pick up the metal kitchenpot with both arms",
+    "Bring the medium-sized kitchenpot up together",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Engage arms to grip and lift the kitchenpot for boiling and cooking.",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Raise the gray cylindrical metal kitchenpot steadily using arms",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Support the gray cylindrical metal kitchenpot and raise it upward"
+  ],
+  "unseen": [
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode387.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the gray kitchenpot firmly, then lift.",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Raise the gray kitchenpot steadily using arms",
+    "Grab the kitchenpot with smooth exterior using both arms",
+    "Grab the cooking kitchenpot with side grips and lift together",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Lift the cylindrical kitchenpot steadily using arms",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Use both arms to raise the kitchenpot for boiling and cooking.",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Lift the gray kitchenpot upward with both arms",
+    "Raise the metal kitchenpot using both arms",
+    "Lift the gray kitchenpot upward and hold it",
+    "Carry the gray kitchenpot securely using arms",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Lift the round kitchenpot with handles up together",
+    "Lift the cylindrical kitchenpot steadily with support",
+    "Raise the gray kitchenpot securely with arms",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Pick up the gray kitchenpot with careful lifting",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Hold the metal kitchenpot and lift upward",
+    "Lift the kitchenpot with smooth exterior carefully using both arms.",
+    "Both arms lift the kitchenpot with smooth exterior upright",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Raise the medium kitchenpot made of metal evenly with arms",
+    "Raise the kitchenpot for boiling and cooking upward with both hands",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Take hold of the cylindrical kitchenpot and lift up",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Hold the gray kitchenpot with both arms",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Raise the round kitchenpot with handles with strong support",
+    "Support the gray kitchenpot and raise it upward",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Raise and hold the metal kitchenpot together",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Hold the kitchenpot for boiling and cooking firmly with arms",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Pick up the gray kitchenpot with both arms",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Lift the metal kitchenpot carefully using arms",
+    "Hold the cooking kitchenpot with side grips firmly, then lift.",
+    "Hold the round kitchenpot with handles firmly and lift it",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Grab the kitchenpot for boiling and cooking using both arms",
+    "Grab the gray kitchenpot and lift together",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Secure the gray kitchenpot and lift it up",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Lift the gray cylindrical metal kitchenpot upward with both arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Lift the cylindrical kitchenpot upward and hold it",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Raise the round kitchenpot with handles together using arms",
+    "Pick up the round kitchenpot with handles with careful lifting",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Lift the medium kitchenpot made of metal carefully using both arms.",
+    "Both arms lift the gray kitchenpot upright",
+    "Secure the smooth gray kitchenpot and lift upward.",
+    "Raise the gray kitchenpot evenly with arms",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Bring the gray kitchenpot up together",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Raise the cooking kitchenpot with side grips with strong support",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Raise and hold the medium kitchenpot made of metal together",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Use arms to lift the cylindrical kitchenpot upward",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Lift the medium kitchenpot made of metal carefully using arms"
+  ],
+  "unseen": [
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Grab the dark gray cooking kitchenpot with both arms."
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode401.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring the smooth gray kitchenpot up together",
+    "Lift the gray cylindrical metal kitchenpot using both arms now.",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "Raise the cooking kitchenpot with side grips together with arms",
+    "Support the metal kitchenpot and raise it upward",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Grab the metal kitchenpot and lift together",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Raise the round kitchenpot with handles using both arms",
+    "Raise the medium-sized kitchenpot steadily using arms",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Hold and raise the round kitchenpot with handles together",
+    "Raise the gray kitchenpot evenly with arms",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Lift the kitchenpot with smooth exterior up using your arms",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Lift the kitchenpot for boiling and cooking upward with both arms",
+    "Use arms to lift the medium-sized kitchenpot upward",
+    "Secure the gray cylindrical metal kitchenpot and lift it up",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Hold the medium-sized kitchenpot and lift upward",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Lift the metal kitchenpot up together",
+    "Raise the metal kitchenpot upward with both hands",
+    "Grab the dark gray stove kitchenpot and lift it upwards",
+    "Grab the dark gray stove kitchenpot and lift it up",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Lift the kitchenpot for boiling and cooking steadily using arms",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Raise and hold the dark gray stove kitchenpot together",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Lift the medium-sized kitchenpot carefully using arms",
+    "Bring the medium-sized kitchenpot up together",
+    "Lift the smooth gray kitchenpot using both arms now.",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Raise the gray kitchenpot together with arms",
+    "Support the smooth gray kitchenpot and raise it upward",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Hold the metal kitchenpot firmly, then lift.",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Pick up the cooking kitchenpot with side grips with both arms",
+    "Bring the medium kitchenpot made of metal upwards together",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Raise the gray kitchenpot steadily using arms",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Place hands on the cylindrical kitchenpot, then lift.",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Pick up the metal kitchenpot with careful lifting",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Hold the cylindrical kitchenpot with both arms",
+    "Lift the kitchenpot with smooth exterior upward with both arms",
+    "Use arms to lift the cooking kitchenpot with side grips upward",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Use both arms to raise the medium kitchenpot made of metal.",
+    "Hold the gray kitchenpot and lift upward",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Lift the medium kitchenpot made of metal up together",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Grab the round kitchenpot with handles and lift it upwards",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Lift the kitchenpot with smooth exterior upwards with care",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Lift the smooth gray kitchenpot carefully using arms"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode402.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the gray cylindrical metal kitchenpot steadily with support",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Both arms lift the round kitchenpot with handles upright",
+    "Grab the cylindrical kitchenpot using both arms",
+    "Hold the kitchenpot for boiling and cooking firmly and lift it",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Raise the kitchenpot with smooth exterior with strong support",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Grasp the dark gray stove kitchenpot and elevate together.",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Lift the dark gray stove kitchenpot carefully using arms",
+    "Hold the cylindrical kitchenpot firmly, then lift.",
+    "Hold the gray cylindrical metal kitchenpot with both arms",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Grab the kitchenpot for boiling and cooking and lift together",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Secure the cylindrical kitchenpot and lift it up",
+    "Bring the metal kitchenpot upwards together",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Lift the cylindrical kitchenpot upward with both arms",
+    "Raise the gray cylindrical metal kitchenpot upward with both hands",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Raise the smooth gray kitchenpot securely with arms",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Pick up the gray cylindrical metal kitchenpot with careful lifting",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Raise and hold the gray cylindrical metal kitchenpot together",
+    "Lift the metal kitchenpot steadily using arms",
+    "Raise the kitchenpot with smooth exterior evenly with arms",
+    "Lift the dark gray stove kitchenpot carefully using both arms.",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Securely lift the gray kitchenpot together",
+    "Hold the gray kitchenpot and lift upward",
+    "Hold the round kitchenpot with handles firmly with arms",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Grab the cooking kitchenpot with side grips and lift it upwards",
+    "Lift the smooth gray kitchenpot steadily with support",
+    "Carry the kitchenpot with smooth exterior securely using arms",
+    "Hold the cooking kitchenpot with side grips firmly and move upward.",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Lift the smooth gray kitchenpot up using your arms",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Lift the medium-sized kitchenpot up together",
+    "Use both arms to raise the round kitchenpot with handles",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Grab the gray kitchenpot and lift together",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Secure the medium-sized kitchenpot and lift it up",
+    "Bring the round kitchenpot with handles upwards together",
+    "Raise the gray cylindrical metal kitchenpot together using arms",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Pick up the cylindrical kitchenpot with both arms",
+    "Bring the gray cylindrical metal kitchenpot up together",
+    "Hold and raise the round kitchenpot with handles together",
+    "Pick up the cylindrical kitchenpot with careful lifting",
+    "With arms, raise the smooth gray kitchenpot upward slowly.",
+    "Raise the metal kitchenpot using both arms",
+    "Lift the dark gray stove kitchenpot upwards with care",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Secure the cylindrical kitchenpot and lift upward.",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Lift the gray kitchenpot steadily using arms",
+    "Raise the smooth gray kitchenpot evenly with arms",
+    "Lift the smooth gray kitchenpot carefully using both arms.",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Raise the kitchenpot with smooth exterior together with arms",
+    "Securely lift the metal kitchenpot together",
+    "Hold the smooth gray kitchenpot and lift upward",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Grab the metal kitchenpot and lift it up",
+    "Engage arms to grip and lift the round kitchenpot with handles.",
+    "Grab the medium kitchenpot made of metal and lift it upwards"
+  ],
+  "unseen": [
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode416.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the gray kitchenpot and lift together",
+    "Raise the dark gray stove kitchenpot together with arms",
+    "Lift the cylindrical kitchenpot up using your arms",
+    "Lift the kitchenpot for boiling and cooking using both arms now.",
+    "Hold and raise the gray kitchenpot together",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Hold the medium-sized kitchenpot firmly and move upward.",
+    "Raise the cooking kitchenpot with side grips using both arms",
+    "Use both arms to raise the cooking kitchenpot with side grips.",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Bring the round kitchenpot with handles up together",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Lift the cooking kitchenpot with side grips upward with both arms",
+    "Lift the gray kitchenpot upwards with care",
+    "Hold the gray kitchenpot and lift upward",
+    "Grasp the round kitchenpot with handles and elevate together.",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Lift the metal kitchenpot steadily with support",
+    "Use both arms to raise the cooking kitchenpot with side grips",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Use arms to lift the metal kitchenpot upward",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Lift the cooking kitchenpot with side grips carefully using both arms.",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Bring the smooth gray kitchenpot upwards together",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Secure the dark gray stove kitchenpot and lift upward.",
+    "Hold the kitchenpot with smooth exterior firmly, then lift.",
+    "Raise and hold the round kitchenpot with handles together",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Raise the round kitchenpot with handles securely with arms",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Hold and raise the round kitchenpot with handles together",
+    "Lift the gray kitchenpot steadily using arms",
+    "Grab the metal kitchenpot using both arms",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Raise the smooth gray kitchenpot together using arms",
+    "Securely lift the gray kitchenpot together",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Lift the kitchenpot for boiling and cooking carefully using arms",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Raise the round kitchenpot with handles together with arms",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Lift the metal kitchenpot using both arms now.",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Hold the round kitchenpot with handles firmly and move upward.",
+    "Raise the cylindrical kitchenpot using both arms",
+    "Use both arms to raise the gray kitchenpot.",
+    "With arms, raise the kitchenpot with smooth exterior upward slowly.",
+    "Bring the medium kitchenpot made of metal up together",
+    "Hold the gray kitchenpot firmly with arms",
+    "Take hold of the medium-sized kitchenpot and lift up",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Grip the kitchenpot for boiling and cooking firmly and lift",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Lift the round kitchenpot with handles upward with both arms",
+    "Lift the gray cylindrical metal kitchenpot upwards with care",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Raise the round kitchenpot with handles evenly with arms",
+    "Raise the metal kitchenpot upward with both hands",
+    "Lift the cooking kitchenpot with side grips steadily with support",
+    "Use both arms to raise the dark gray stove kitchenpot",
+    "Engage arms to grip and lift the gray kitchenpot.",
+    "Raise the dark gray stove kitchenpot steadily using arms",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Lift the cylindrical kitchenpot carefully using both arms.",
+    "Hold the dark gray stove kitchenpot with both arms",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Both arms lift the metal kitchenpot upright",
+    "Secure the cooking kitchenpot with side grips and lift upward.",
+    "Hold the gray cylindrical metal kitchenpot firmly, then lift.",
+    "Raise and hold the cylindrical kitchenpot together",
+    "Carry the gray kitchenpot securely using arms",
+    "Hold the smooth gray kitchenpot firmly and lift it",
+    "Raise the medium kitchenpot made of metal securely with arms",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Pick up the metal kitchenpot with both arms",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Hold and raise the metal kitchenpot together",
+    "Lift the round kitchenpot with handles steadily using arms",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Pick up the kitchenpot for boiling and cooking with careful lifting",
+    "Raise the kitchenpot for boiling and cooking together using arms",
+    "Securely lift the metal kitchenpot together",
+    "Secure the dark gray stove kitchenpot and lift it up",
+    "Lift the gray kitchenpot carefully using arms"
+  ],
+  "unseen": [
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Use both arms for the dark gray cooking kitchenpot"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode436.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the metal kitchenpot upwards with care",
+    "Raise the cooking kitchenpot with side grips evenly with arms",
+    "Raise the medium kitchenpot made of metal together using arms",
+    "Grip the dark gray stove kitchenpot firmly and lift",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Lift the gray kitchenpot steadily using arms",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Lift the metal kitchenpot using both arms now.",
+    "Lift the round kitchenpot with handles up using your arms",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Both arms lift the metal kitchenpot upright",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Take hold of the kitchenpot for boiling and cooking and lift up",
+    "Carry the medium-sized kitchenpot securely using arms",
+    "Grab the smooth gray kitchenpot using both arms",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Raise the gray kitchenpot using both arms",
+    "Hold and raise the dark gray stove kitchenpot together",
+    "Bring the cylindrical kitchenpot up together",
+    "Hold the smooth gray kitchenpot with both arms",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Raise the round kitchenpot with handles steadily using arms",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Lift the smooth gray kitchenpot up together",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Secure the cooking kitchenpot with side grips and lift it up",
+    "Hold the medium kitchenpot made of metal firmly and move upward.",
+    "Raise the gray cylindrical metal kitchenpot together with arms",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Raise the medium kitchenpot made of metal with strong support",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Hold the dark gray stove kitchenpot firmly with arms",
+    "With arms, raise the medium-sized kitchenpot upward slowly.",
+    "Raise and hold the cylindrical kitchenpot together",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Grab the gray kitchenpot and lift together",
+    "Use both arms to raise the cylindrical kitchenpot",
+    "Securely lift the metal kitchenpot together",
+    "Grab the cooking kitchenpot with side grips and lift it up",
+    "Lift the gray kitchenpot upward and hold it",
+    "Use arms to lift the medium kitchenpot made of metal upward",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and lift it",
+    "Pick up the smooth gray kitchenpot with careful lifting",
+    "Support the medium-sized kitchenpot and raise it upward",
+    "Place hands on the gray cylindrical metal kitchenpot, then lift.",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Lift the medium-sized kitchenpot upwards with care",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Raise the kitchenpot with smooth exterior together using arms",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Raise the smooth gray kitchenpot upward with both hands",
+    "Secure the kitchenpot with smooth exterior and lift upward.",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Lift the kitchenpot with smooth exterior steadily with support",
+    "Lift the dark gray stove kitchenpot using both arms now.",
+    "Lift the metal kitchenpot up using your arms",
+    "Lift the medium-sized kitchenpot upward with both arms",
+    "Both arms lift the medium-sized kitchenpot upright",
+    "Bring the round kitchenpot with handles upwards together",
+    "Raise the dark gray stove kitchenpot securely with arms",
+    "Take hold of the cooking kitchenpot with side grips and lift up",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Grab the gray cylindrical metal kitchenpot using both arms",
+    "Grasp the cylindrical kitchenpot and elevate together.",
+    "Raise the medium kitchenpot made of metal using both arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Bring the kitchenpot for boiling and cooking up together",
+    "Hold the medium kitchenpot made of metal with both arms",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Raise the cooking kitchenpot with side grips steadily using arms",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Grab the kitchenpot for boiling and cooking and lift it upwards",
+    "Secure the metal kitchenpot and lift it up",
+    "Hold the kitchenpot for boiling and cooking firmly and move upward.",
+    "Raise the cylindrical kitchenpot together with arms",
+    "Use both arms to raise the round kitchenpot with handles.",
+    "Raise the gray kitchenpot with strong support",
+    "Engage arms to grip and lift the cooking kitchenpot with side grips.",
+    "Hold the cylindrical kitchenpot firmly with arms",
+    "With arms, raise the cooking kitchenpot with side grips upward slowly.",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Hold the dark gray stove kitchenpot firmly, then lift.",
+    "Grab the medium kitchenpot made of metal and lift together",
+    "Use both arms to raise the gray cylindrical metal kitchenpot",
+    "Securely lift the gray kitchenpot together",
+    "Grab the metal kitchenpot and lift it up",
+    "Lift the gray cylindrical metal kitchenpot upward and hold it",
+    "Use arms to lift the smooth gray kitchenpot upward",
+    "Pick up the medium kitchenpot made of metal with both arms",
+    "Hold the gray kitchenpot firmly and lift it",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Support the dark gray stove kitchenpot and raise it upward",
+    "Place hands on the gray kitchenpot, then lift.",
+    "Hold the gray cylindrical metal kitchenpot and lift upward"
+  ],
+  "unseen": [
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode458.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring the medium kitchenpot made of metal up together",
+    "Hold the metal kitchenpot with both arms",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Raise the metal kitchenpot steadily using arms",
+    "Raise and hold the gray kitchenpot together",
+    "Use both arms to raise the cylindrical kitchenpot.",
+    "Carry the dark gray stove kitchenpot securely using arms",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Use both arms to raise the medium-sized kitchenpot",
+    "Hold the gray cylindrical metal kitchenpot and lift upward",
+    "Lift the metal kitchenpot upward with both arms",
+    "Lift the kitchenpot for boiling and cooking up using your arms",
+    "Bring the gray kitchenpot upwards together",
+    "Hold the cooking kitchenpot with side grips firmly and lift it",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Raise the kitchenpot for boiling and cooking with strong support",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the metal kitchenpot upwards with care",
+    "Engage arms to grip and lift the smooth gray kitchenpot.",
+    "Secure the round kitchenpot with handles and lift it up",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Hold the gray cylindrical metal kitchenpot firmly with arms",
+    "Raise the metal kitchenpot together with arms",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Grip the round kitchenpot with handles firmly and lift",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Lift the kitchenpot for boiling and cooking carefully using both arms.",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Lift the kitchenpot with smooth exterior carefully using arms",
+    "Take hold of the kitchenpot with smooth exterior and lift up",
+    "Place hands on the round kitchenpot with handles, then lift.",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Raise the kitchenpot for boiling and cooking evenly with arms",
+    "Grab the kitchenpot with smooth exterior and lift it upwards",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Both arms lift the kitchenpot for boiling and cooking upright",
+    "Secure the round kitchenpot with handles and lift upward.",
+    "Raise the medium-sized kitchenpot together using arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Pick up the gray kitchenpot with both arms",
+    "Lift the gray cylindrical metal kitchenpot steadily using arms",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Grab the gray cylindrical metal kitchenpot and lift it up",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Securely lift the round kitchenpot with handles together",
+    "Lift the gray cylindrical metal kitchenpot up together",
+    "Grasp the medium kitchenpot made of metal and elevate together.",
+    "Bring the medium kitchenpot made of metal up together",
+    "Hold the kitchenpot with smooth exterior with both arms",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Raise the cylindrical kitchenpot steadily using arms",
+    "Raise and hold the medium-sized kitchenpot together",
+    "Use both arms to raise the dark gray stove kitchenpot.",
+    "Carry the cylindrical kitchenpot securely using arms",
+    "Grab the round kitchenpot with handles using both arms",
+    "Use both arms to raise the kitchenpot for boiling and cooking",
+    "Hold the gray kitchenpot and lift upward",
+    "Lift the metal kitchenpot upward with both arms",
+    "Lift the gray cylindrical metal kitchenpot up using your arms",
+    "Bring the round kitchenpot with handles upwards together",
+    "Hold the medium-sized kitchenpot firmly and lift it",
+    "Use arms to lift the kitchenpot for boiling and cooking upward",
+    "Raise the metal kitchenpot with strong support",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Lift the medium kitchenpot made of metal upwards with care",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Hold and raise the round kitchenpot with handles together",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Raise the smooth gray kitchenpot together with arms",
+    "Lift the medium kitchenpot made of metal upward and hold it",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Grip the metal kitchenpot firmly and lift",
+    "Grab the medium-sized kitchenpot and lift together",
+    "Raise the kitchenpot with smooth exterior using both arms",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Raise the cooking kitchenpot with side grips securely with arms",
+    "Lift the metal kitchenpot carefully using arms",
+    "Take hold of the medium kitchenpot made of metal and lift up",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "With arms, raise the cylindrical kitchenpot upward slowly.",
+    "Support the medium kitchenpot made of metal and raise it upward",
+    "Raise the dark gray stove kitchenpot evenly with arms",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Secure the medium-sized kitchenpot and lift upward.",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Hold the gray cylindrical metal kitchenpot firmly and move upward.",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Lift the dark gray stove kitchenpot steadily using arms",
+    "Lift the round kitchenpot with handles using both arms now.",
+    "Grab the medium-sized kitchenpot and lift it up",
+    "Pick up the dark gray stove kitchenpot with careful lifting",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Lift the kitchenpot for boiling and cooking up together",
+    "Grasp the smooth gray kitchenpot and elevate together."
+  ],
+  "unseen": [
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Use both arms for the kitchenpot with two side handles",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode474.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Hold the kitchenpot with smooth exterior firmly with arms",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Grab the dark gray stove kitchenpot using both arms",
+    "Take hold of the dark gray stove kitchenpot and lift up",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Carry the medium kitchenpot made of metal securely using arms",
+    "Grab the round kitchenpot with handles and lift it up",
+    "Lift the kitchenpot for boiling and cooking upward and hold it",
+    "Both arms lift the dark gray stove kitchenpot upright",
+    "Place hands on the medium kitchenpot made of metal, then lift.",
+    "Grip the medium-sized kitchenpot firmly and lift",
+    "Raise the gray kitchenpot securely with arms",
+    "Lift the gray cylindrical metal kitchenpot carefully using arms",
+    "Hold the medium-sized kitchenpot firmly, then lift.",
+    "Grab the metal kitchenpot and lift it upwards",
+    "Securely lift the kitchenpot for boiling and cooking together",
+    "Lift the metal kitchenpot carefully using both arms.",
+    "Raise the metal kitchenpot steadily using arms",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Grasp the gray kitchenpot and elevate together.",
+    "Lift the metal kitchenpot up together",
+    "Raise and hold the kitchenpot for boiling and cooking together",
+    "Use arms to lift the kitchenpot with smooth exterior upward",
+    "Raise the gray kitchenpot using both arms",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Hold the kitchenpot for boiling and cooking and lift upward",
+    "Pick up the medium kitchenpot made of metal with careful lifting",
+    "Secure the kitchenpot for boiling and cooking and lift upward.",
+    "With arms, raise the dark gray stove kitchenpot upward slowly.",
+    "Lift the cooking kitchenpot with side grips steadily using arms",
+    "Raise the round kitchenpot with handles upward with both hands",
+    "Raise the round kitchenpot with handles together using arms",
+    "Bring the cylindrical kitchenpot up together",
+    "Use both arms to raise the kitchenpot with smooth exterior",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Raise the metal kitchenpot with strong support",
+    "Engage arms to grip and lift the kitchenpot with smooth exterior.",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Pick up the smooth gray kitchenpot with both arms",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Hold the medium-sized kitchenpot with both arms",
+    "Lift the medium-sized kitchenpot using both arms now.",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Bring the gray cylindrical metal kitchenpot upwards together",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Lift the cylindrical kitchenpot upwards with care",
+    "Grab the gray cylindrical metal kitchenpot and lift together",
+    "Hold the smooth gray kitchenpot firmly with arms",
+    "Hold and raise the medium kitchenpot made of metal together",
+    "Grab the medium-sized kitchenpot using both arms",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "Lift the medium kitchenpot made of metal up using your arms",
+    "Secure the medium kitchenpot made of metal and lift it up",
+    "Carry the gray cylindrical metal kitchenpot securely using arms",
+    "Grab the kitchenpot with smooth exterior and lift it up",
+    "Lift the medium-sized kitchenpot upward and hold it",
+    "Both arms lift the cooking kitchenpot with side grips upright",
+    "Place hands on the cooking kitchenpot with side grips, then lift.",
+    "Grip the kitchenpot with smooth exterior firmly and lift",
+    "Raise the medium-sized kitchenpot securely with arms",
+    "Lift the cooking kitchenpot with side grips carefully using arms",
+    "Hold the round kitchenpot with handles firmly, then lift.",
+    "Grab the smooth gray kitchenpot and lift it upwards",
+    "Securely lift the cooking kitchenpot with side grips together",
+    "Lift the gray kitchenpot carefully using both arms.",
+    "Raise the metal kitchenpot steadily using arms",
+    "Use both arms to raise the gray cylindrical metal kitchenpot.",
+    "Grasp the medium-sized kitchenpot and elevate together.",
+    "Lift the cylindrical kitchenpot up together",
+    "Raise and hold the cooking kitchenpot with side grips together",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Raise the gray kitchenpot using both arms",
+    "Raise the medium-sized kitchenpot together with arms",
+    "Hold the medium kitchenpot made of metal and lift upward",
+    "Pick up the medium-sized kitchenpot with careful lifting",
+    "Secure the medium kitchenpot made of metal and lift upward.",
+    "With arms, raise the medium kitchenpot made of metal upward slowly.",
+    "Lift the medium-sized kitchenpot steadily using arms",
+    "Raise the dark gray stove kitchenpot upward with both hands",
+    "Raise the dark gray stove kitchenpot together using arms",
+    "Bring the dark gray stove kitchenpot up together",
+    "Use both arms to raise the medium kitchenpot made of metal",
+    "Raise the medium-sized kitchenpot evenly with arms",
+    "Raise the medium-sized kitchenpot with strong support",
+    "Engage arms to grip and lift the metal kitchenpot.",
+    "Support the kitchenpot with smooth exterior and raise it upward",
+    "Lift the medium kitchenpot made of metal steadily with support",
+    "Lift the metal kitchenpot upward with both arms",
+    "Pick up the round kitchenpot with handles with both arms",
+    "Hold and raise the metal kitchenpot together",
+    "Hold the cooking kitchenpot with side grips with both arms",
+    "Lift the cylindrical kitchenpot using both arms now.",
+    "Hold the metal kitchenpot firmly and move upward.",
+    "Bring the gray cylindrical metal kitchenpot upwards together"
+  ],
+  "unseen": [
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the kitchenpot with two side handles upward using arms.",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges using both arms"
+  ]
+}

lift_pot/ur5_randomized_500/instructions/episode66.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the medium kitchenpot made of metal steadily using arms",
+    "Hold the medium kitchenpot made of metal firmly with arms",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Hold the dark gray stove kitchenpot firmly and lift it",
+    "Hold and raise the medium-sized kitchenpot together",
+    "Hold the smooth gray kitchenpot firmly, then lift.",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Engage arms to grip and lift the medium kitchenpot made of metal.",
+    "Raise and hold the kitchenpot with smooth exterior together",
+    "Take hold of the round kitchenpot with handles and lift up",
+    "With arms, raise the kitchenpot for boiling and cooking upward slowly.",
+    "Raise the metal kitchenpot together using arms",
+    "Raise the medium kitchenpot made of metal together with arms",
+    "Raise the metal kitchenpot securely with arms",
+    "Hold the cooking kitchenpot with side grips and lift upward",
+    "Use both arms to raise the metal kitchenpot.",
+    "Grab the kitchenpot with smooth exterior and lift together",
+    "Use both arms to raise the metal kitchenpot",
+    "Grasp the kitchenpot with smooth exterior and elevate together.",
+    "Lift the medium kitchenpot made of metal upward with both arms",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Grab the cylindrical kitchenpot and lift it upwards",
+    "Carry the smooth gray kitchenpot securely using arms",
+    "Lift the metal kitchenpot using both arms now.",
+    "Bring the smooth gray kitchenpot up together",
+    "Lift the round kitchenpot with handles upwards with care",
+    "Support the gray cylindrical metal kitchenpot and raise it upward",
+    "Bring the kitchenpot for boiling and cooking upwards together",
+    "Lift the kitchenpot with smooth exterior up together",
+    "Lift the round kitchenpot with handles carefully using both arms.",
+    "Hold and raise the kitchenpot for boiling and cooking together",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Grab the cooking kitchenpot with side grips using both arms",
+    "Hold the cylindrical kitchenpot firmly and move upward.",
+    "Lift the smooth gray kitchenpot steadily using arms",
+    "Lift the gray kitchenpot upward and hold it",
+    "Grip the cylindrical kitchenpot firmly and lift",
+    "Lift the kitchenpot for boiling and cooking steadily with support",
+    "Secure the gray kitchenpot and lift upward.",
+    "Securely lift the medium-sized kitchenpot together",
+    "Secure the kitchenpot for boiling and cooking and lift it up",
+    "Lift the medium-sized kitchenpot up using your arms",
+    "Raise the medium-sized kitchenpot using both arms",
+    "Grab the smooth gray kitchenpot and lift it up",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Use arms to lift the round kitchenpot with handles upward",
+    "Raise the metal kitchenpot with strong support",
+    "Both arms lift the smooth gray kitchenpot upright",
+    "Pick up the kitchenpot with smooth exterior with both arms",
+    "Raise the smooth gray kitchenpot steadily using arms",
+    "Hold the gray kitchenpot firmly with arms",
+    "Hold the kitchenpot for boiling and cooking with both arms",
+    "Hold the cylindrical kitchenpot firmly and lift it",
+    "Hold and raise the gray cylindrical metal kitchenpot together",
+    "Hold the medium kitchenpot made of metal firmly, then lift.",
+    "Raise the gray cylindrical metal kitchenpot evenly with arms",
+    "Lift the round kitchenpot with handles carefully using arms",
+    "Engage arms to grip and lift the gray cylindrical metal kitchenpot.",
+    "Raise and hold the smooth gray kitchenpot together",
+    "Take hold of the gray cylindrical metal kitchenpot and lift up",
+    "With arms, raise the gray cylindrical metal kitchenpot upward slowly.",
+    "Raise the round kitchenpot with handles together using arms",
+    "Raise the kitchenpot for boiling and cooking together with arms",
+    "Raise the cylindrical kitchenpot securely with arms",
+    "Hold the kitchenpot with smooth exterior and lift upward",
+    "Use both arms to raise the medium-sized kitchenpot.",
+    "Grab the dark gray stove kitchenpot and lift together",
+    "Use both arms to raise the gray kitchenpot",
+    "Grasp the smooth gray kitchenpot and elevate together.",
+    "Lift the gray kitchenpot upward with both arms",
+    "Place hands on the kitchenpot with smooth exterior, then lift.",
+    "Grab the medium-sized kitchenpot and lift it upwards",
+    "Carry the round kitchenpot with handles securely using arms",
+    "Lift the cooking kitchenpot with side grips using both arms now.",
+    "Bring the medium-sized kitchenpot up together",
+    "Lift the smooth gray kitchenpot upwards with care",
+    "Support the round kitchenpot with handles and raise it upward",
+    "Bring the medium-sized kitchenpot upwards together",
+    "Lift the cooking kitchenpot with side grips up together",
+    "Lift the gray cylindrical metal kitchenpot carefully using both arms.",
+    "Hold and raise the kitchenpot with smooth exterior together",
+    "Raise the cylindrical kitchenpot upward with both hands",
+    "Grab the round kitchenpot with handles using both arms",
+    "Hold the smooth gray kitchenpot firmly and move upward.",
+    "Lift the gray kitchenpot steadily using arms",
+    "Lift the smooth gray kitchenpot upward and hold it",
+    "Grip the medium kitchenpot made of metal firmly and lift",
+    "Lift the dark gray stove kitchenpot steadily with support",
+    "Secure the metal kitchenpot and lift upward.",
+    "Securely lift the medium kitchenpot made of metal together",
+    "Secure the kitchenpot with smooth exterior and lift it up",
+    "Lift the cooking kitchenpot with side grips up using your arms",
+    "Raise the smooth gray kitchenpot using both arms",
+    "Grab the medium kitchenpot made of metal and lift it up",
+    "Pick up the cooking kitchenpot with side grips with careful lifting",
+    "Use arms to lift the gray kitchenpot upward",
+    "Raise the round kitchenpot with handles with strong support",
+    "Both arms lift the metal kitchenpot upright",
+    "Pick up the dark gray stove kitchenpot with both arms"
+  ],
+  "unseen": [
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the dark gray cooking kitchenpot firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the gray kitchenpot with rounded edges with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the kitchenpot with two side handles up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the gray kitchenpot with rounded edges firmly and lift it",
+    "Lift the kitchenpot with two side handles with both arms",
+    "Grab the dark gray cooking kitchenpot with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the kitchenpot with two side handles using both arms",
+    "Use both arms to lift the dark gray cooking kitchenpot",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the kitchenpot with two side handles",
+    "Lift the gray kitchenpot with rounded edges with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the gray kitchenpot with rounded edges upward using arms.",
+    "Lift the gray kitchenpot with rounded edges using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the dark gray cooking kitchenpot up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Use both arms to lift the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot upward using arms.",
+    "Lift the dark gray cooking kitchenpot using both arms",
+    "Hold the kitchenpot with two side handles firmly and lift it",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Grab the kitchenpot with two side handles with both arms.",
+    "Together lift the gray kitchenpot with rounded edges up",
+    "Use both arms for the gray kitchenpot with rounded edges",
+    "Lift the dark gray cooking kitchenpot with both arms",
+    "Lift the dark gray cooking kitchenpot using both arms"
+  ]
+}