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dump_bin_bigbin/piper_randomized_500/instructions/episode10.json

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+{
+  "seen": [
+    "Use the arm to lift the small white trashbin and empty it.",
+    "Take the desk-sized white tabletrashbin and empty its contents.",
+    "Use the arm to move the cylindrical small white trashbin and pour.",
+    "Hold the desk-sized white tabletrashbin, then pour contents.",
+    "Move the arm, take the white bin with flared top edge, and pour.",
+    "Lift the smooth plastic tabletrashbin, pour into the big bin.",
+    "Hold the smooth plastic tabletrashbin and dump its balls.",
+    "Grab the compact tabletop trashbin and transfer balls.",
+    "Take hold of the simple white plastic trashbin and dump the balls.",
+    "Pick up the compact tabletop trashbin, empty into the big bin",
+    "Grasp the simple white plastic trashbin and empty it out.",
+    "Grab the simple white plastic trashbin with arm and pour contents",
+    "Take the simple white plastic trashbin and pour the balls.",
+    "Lift the white bin with flared top edge, pour contents into big bin",
+    "Raise the tabletrashbin to dump its contents out.",
+    "Take the simple white plastic trashbin and empty balls into the bin.",
+    "Hold the simple white plastic trashbin and pour the balls.",
+    "Lift up the cylindrical small white trashbin, then pour balls.",
+    "Pick up the mini white trashbin for desk and pour into bin.",
+    "Grab the simple white plastic trashbin and transfer balls to the bin.",
+    "Take the small white trashbin and pour the balls out.",
+    "Control the arm to raise the compact tabletop trashbin and pour.",
+    "Use the arm to empty the desk-sized white tabletrashbin into the bin.",
+    "Grab the smooth plastic tabletrashbin, then pour balls into the bin.",
+    "Pick the white bin with flared top edge, pour its contents out.",
+    "Pick up the small white trashbin and pour carefully.",
+    "Lift the smooth plastic tabletrashbin using the arm to pour balls.",
+    "Grab the compact tabletop trashbin, pour its contents away.",
+    "Use arm to pick the white bin with flared top edge, pour in bin",
+    "Pick the simple white plastic trashbin up, pour all balls inside bin",
+    "Take the tabletrashbin and pour contents.",
+    "Use the tabletrashbin to pour the balls out.",
+    "Take hold of the white round tabletrashbin, pour contents.",
+    "Lift the small white trashbin and pour its contents into bin.",
+    "Take the smooth plastic tabletrashbin using arm, pour contents inside",
+    "Grab the desk-sized white tabletrashbin and empty it into the bin.",
+    "Lift the white round tabletrashbin and pour contents down.",
+    "Pick up the white bin with flared top edge using the arm, pour balls.",
+    "Use the arm to grab the white round tabletrashbin and pour.",
+    "Secure the smooth plastic tabletrashbin and pour the balls.",
+    "Lift the cylindrical small white trashbin, then pour the balls.",
+    "Use arm to grab the white bin with flared top edge, dump contents",
+    "Hold the mini white trashbin for desk, dump balls in big bin",
+    "Pour balls from the smooth plastic tabletrashbin into the bin.",
+    "Grab and tilt the small white trashbin to empty the balls.",
+    "Hold the mini white trashbin for desk and pour all balls into bin",
+    "Lift the compact tabletop trashbin and pour balls into the bin.",
+    "Grab the cylindrical small white trashbin and pour it out.",
+    "Direct the arm to grab the cylindrical small white trashbin and tilt.",
+    "Lift the smooth plastic tabletrashbin, pour the balls into big bin",
+    "Use the arm to lift the cylindrical small white trashbin and empty it.",
+    "Take the white cylindrical waste bin and empty its contents.",
+    "Use the arm to move the smooth plastic tabletrashbin and pour.",
+    "Hold the cylindrical small white trashbin, then pour contents.",
+    "Move the arm, take the cylindrical tabletrashbin with flared rim, and pour.",
+    "Lift the compact tabletop trashbin, pour into the big bin.",
+    "Hold the simple white plastic trashbin and dump its balls.",
+    "Grab the white cylindrical waste bin and transfer balls.",
+    "Take hold of the compact tabletop trashbin and dump the balls.",
+    "Pick up the compact tabletop trashbin, empty into the big bin",
+    "Grasp the white round tabletrashbin and empty it out.",
+    "Grab the compact tabletop trashbin with arm and pour contents",
+    "Take the cylindrical small white trashbin and pour the balls.",
+    "Lift the simple white plastic trashbin, pour contents into big bin",
+    "Raise the simple white plastic trashbin to dump its contents out.",
+    "Take the white round tabletrashbin and empty balls into the bin.",
+    "Hold the compact tabletop trashbin and pour the balls.",
+    "Lift up the desk-sized white tabletrashbin, then pour balls.",
+    "Pick up the compact tabletop trashbin and pour into bin.",
+    "Grab the white bin with flared top edge and transfer balls to the bin.",
+    "Take the white bin with flared top edge and pour the balls out.",
+    "Control the arm to raise the desk-sized white tabletrashbin and pour.",
+    "Use the arm to empty the simple white plastic trashbin into the bin.",
+    "Grab the simple white plastic trashbin, then pour balls into the bin.",
+    "Pick the mini white trashbin for desk, pour its contents out.",
+    "Pick up the white bin with flared top edge and pour carefully.",
+    "Lift the cylindrical tabletrashbin with flared rim using the arm to pour balls.",
+    "Grab the small white trashbin, pour its contents away.",
+    "Use arm to pick the white bin with flared top edge, pour in bin",
+    "Pick the small white trashbin up, pour all balls inside bin",
+    "Take the white round tabletrashbin and pour contents.",
+    "Use the desk-sized white tabletrashbin to pour the balls out.",
+    "Take hold of the desk-sized white tabletrashbin, pour contents.",
+    "Lift the simple white plastic trashbin and pour its contents into bin.",
+    "Take the tabletrashbin using arm, pour contents inside",
+    "Grab the cylindrical tabletrashbin with flared rim and empty it into the bin.",
+    "Lift the compact tabletop trashbin and pour contents down.",
+    "Pick up the simple white plastic trashbin using the arm, pour balls.",
+    "Use the arm to grab the compact tabletop trashbin and pour.",
+    "Secure the compact tabletop trashbin and pour the balls.",
+    "Lift the compact tabletop trashbin, then pour the balls.",
+    "Use arm to grab the mini white trashbin for desk, dump contents",
+    "Hold the white round tabletrashbin, dump balls in big bin",
+    "Pour balls from the smooth plastic tabletrashbin into the bin.",
+    "Grab and tilt the white cylindrical waste bin to empty the balls.",
+    "Hold the tabletrashbin and pour all balls into bin",
+    "Lift the small white trashbin and pour balls into the bin.",
+    "Grab the tabletrashbin and pour it out.",
+    "Direct the arm to grab the cylindrical small white trashbin and tilt.",
+    "Lift the smooth plastic tabletrashbin, pour the balls into big bin"
+  ],
+  "unseen": [
+    "Take the small bin for table waste and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Pour the lightweight round tabletop trashbin into the big bin.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Lift the small bin for table waste and empty it.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Grab the small bin for table waste and pour balls.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Pour the lightweight round tabletop trashbin into the big bin.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Take the small bin for table waste and empty into big bin",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Lift the small bin for table waste and empty it.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Pour the small bin for table waste into the big bin.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Grab the small bin for table waste and pour balls.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Pick up the plastic tiny trashbin for tables, pour balls into the bin.",
+    "Lift the small bin for table waste and empty it.",
+    "Pick up the small bin for table waste and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Grab the small bin for table waste and pour balls.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Pick up the plastic tiny trashbin for tables, pour balls into the bin.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Pick up the small bin for table waste and pour it.",
+    "Pour the small bin for table waste into the big bin.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Take the small bin for table waste and empty into big bin",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Grab the small bin for table waste and pour balls.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Pick up the small bin for table waste and pour it.",
+    "Pour the small bin for table waste into the big bin.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Lift the small bin for table waste and empty it.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Grab the plastic tiny trashbin for tables and pour the balls."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode125.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arm to pick the tabletrashbin with tapered sides, pour in bin",
+    "Grab the dark gray cylindrical tabletrashbin and pour it out.",
+    "Take the tabletrashbin with slightly flared top and empty its contents.",
+    "Grab the plastic tabletrashbin with dark pattern with arm and pour contents",
+    "Secure the tabletrashbin with slightly flared top and pour the balls.",
+    "Grab and tilt the compact speckled surface tabletrashbin to empty the balls.",
+    "Use the arm to empty the gray tabletrashbin into the bin.",
+    "Take the tabletrashbin with slightly flared top and pour the balls out.",
+    "Use the arm to lift the plastic tabletrashbin with dark pattern and empty it.",
+    "Lift the tabletrashbin with tapered sides, pour the balls into big bin",
+    "Lift the tabletrashbin with black specks, pour into the big bin.",
+    "Hold the tabletrashbin with black specks and pour all balls into bin",
+    "Take the black-specked gray tabletrashbin using arm, pour contents inside",
+    "Pick up the small tabletrashbin, empty into the big bin",
+    "Pick up the tabletrashbin for tabletop trash and pour carefully.",
+    "Grab the small cylindrical speckled tabletrashbin and transfer balls to the bin.",
+    "Pour balls from the tabletrashbin with black specks into the bin.",
+    "Take hold of the tabletrashbin for tabletop trash and dump the balls.",
+    "Lift up the tabletrashbin with tapered sides, then pour balls.",
+    "Pick up the tabletrashbin with slightly flared top using the arm, pour balls.",
+    "Move the arm, take the tabletrashbin for tabletop trash, and pour.",
+    "Hold the small cylindrical speckled tabletrashbin and pour the balls.",
+    "Grasp the tabletrashbin with slightly flared top and empty it out.",
+    "Raise the small tabletrashbin to dump its contents out.",
+    "Grab the tabletrashbin for tabletop trash and transfer balls.",
+    "Grab the compact speckled surface tabletrashbin, pour its contents away.",
+    "Grab the tabletrashbin with black specks and empty it into the bin.",
+    "Hold the black-specked gray tabletrashbin, then pour contents.",
+    "Lift the small tabletrashbin, pour contents into big bin",
+    "Pick up the tabletrashbin with tapered sides and pour into bin.",
+    "Take the gray tabletrashbin and empty balls into the bin.",
+    "Lift the gray tabletrashbin, then pour the balls.",
+    "Pick the small tabletrashbin, pour its contents out.",
+    "Use arm to grab the tabletrashbin with tapered sides, dump contents",
+    "Direct the arm to grab the tabletrashbin with black specks and tilt.",
+    "Take the tabletrashbin with black specks and pour the balls.",
+    "Hold the small tabletrashbin and dump its balls.",
+    "Use the black-specked gray tabletrashbin to pour the balls out.",
+    "Pick the plastic tabletrashbin with dark pattern up, pour all balls inside bin",
+    "Take the smooth plastic tabletrashbin and pour contents.",
+    "Use the arm to move the tabletrashbin with black specks and pour.",
+    "Take hold of the smooth plastic tabletrashbin, pour contents.",
+    "Lift the tabletrashbin with tapered sides and pour balls into the bin.",
+    "Lift the compact speckled surface tabletrashbin using the arm to pour balls.",
+    "Use the arm to grab the gray tabletrashbin and pour.",
+    "Lift the compact speckled surface tabletrashbin and pour its contents into bin.",
+    "Grab the tabletrashbin with tapered sides, then pour balls into the bin.",
+    "Control the arm to raise the smooth plastic tabletrashbin and pour.",
+    "Lift the small tabletrashbin and pour contents down.",
+    "Hold the smooth plastic tabletrashbin, dump balls in big bin",
+    "Use arm to pick the tabletrashbin for tabletop trash, pour in bin",
+    "Grab the tabletrashbin with slightly flared top and pour it out.",
+    "Take the plastic tabletrashbin with dark pattern and empty its contents.",
+    "Grab the tabletrashbin with tapered sides with arm and pour contents",
+    "Secure the dark gray cylindrical tabletrashbin and pour the balls.",
+    "Grab and tilt the tabletrashbin with tapered sides to empty the balls.",
+    "Use the arm to empty the small tabletrashbin into the bin.",
+    "Take the tabletrashbin with slightly flared top and pour the balls out.",
+    "Use the arm to lift the tabletrashbin with slightly flared top and empty it.",
+    "Lift the dark gray cylindrical tabletrashbin, pour the balls into big bin",
+    "Lift the compact speckled surface tabletrashbin, pour into the big bin.",
+    "Hold the small cylindrical speckled tabletrashbin and pour all balls into bin",
+    "Take the tabletrashbin with black specks using arm, pour contents inside",
+    "Pick up the plastic tabletrashbin with dark pattern, empty into the big bin",
+    "Pick up the small cylindrical speckled tabletrashbin and pour carefully.",
+    "Grab the smooth plastic tabletrashbin and transfer balls to the bin.",
+    "Pour balls from the small tabletrashbin into the bin.",
+    "Take hold of the tabletrashbin with slightly flared top and dump the balls.",
+    "Lift up the tabletrashbin with slightly flared top, then pour balls.",
+    "Pick up the small cylindrical speckled tabletrashbin using the arm, pour balls.",
+    "Move the arm, take the smooth plastic tabletrashbin, and pour.",
+    "Hold the gray tabletrashbin and pour the balls.",
+    "Grasp the small cylindrical speckled tabletrashbin and empty it out.",
+    "Raise the smooth plastic tabletrashbin to dump its contents out.",
+    "Grab the tabletrashbin with tapered sides and transfer balls.",
+    "Grab the smooth plastic tabletrashbin, pour its contents away.",
+    "Grab the compact speckled surface tabletrashbin and empty it into the bin.",
+    "Hold the gray tabletrashbin, then pour contents.",
+    "Lift the gray tabletrashbin, pour contents into big bin",
+    "Pick up the black-specked gray tabletrashbin and pour into bin.",
+    "Take the plastic tabletrashbin with dark pattern and empty balls into the bin.",
+    "Lift the compact speckled surface tabletrashbin, then pour the balls.",
+    "Pick the smooth plastic tabletrashbin, pour its contents out.",
+    "Use arm to grab the small tabletrashbin, dump contents",
+    "Direct the arm to grab the gray tabletrashbin and tilt.",
+    "Take the black-specked gray tabletrashbin and pour the balls.",
+    "Hold the dark gray cylindrical tabletrashbin and dump its balls.",
+    "Use the compact speckled surface tabletrashbin to pour the balls out.",
+    "Pick the small cylindrical speckled tabletrashbin up, pour all balls inside bin",
+    "Take the compact speckled surface tabletrashbin and pour contents.",
+    "Use the arm to move the small tabletrashbin and pour.",
+    "Take hold of the black-specked gray tabletrashbin, pour contents.",
+    "Lift the small cylindrical speckled tabletrashbin and pour balls into the bin.",
+    "Lift the small cylindrical speckled tabletrashbin using the arm to pour balls.",
+    "Use the arm to grab the compact speckled surface tabletrashbin and pour.",
+    "Lift the gray tabletrashbin and pour its contents into bin.",
+    "Grab the plastic tabletrashbin with dark pattern, then pour balls into the bin.",
+    "Control the arm to raise the compact speckled surface tabletrashbin and pour.",
+    "Lift the small tabletrashbin and pour contents down.",
+    "Hold the small tabletrashbin, dump balls in big bin"
+  ],
+  "unseen": [
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Grab the tabletrashbin for holding small trash and pour balls.",
+    "Take the little tabletrashbin with smooth texture and empty into big bin",
+    "Pick up the tabletrashbin for holding small trash, pour balls into the bin.",
+    "Pour the little tabletrashbin with smooth texture into the big bin.",
+    "Lift the tabletrashbin for holding small trash and transfer the contents.",
+    "Grab the portable gray speckled tabletrashbin and pour the balls.",
+    "Pick up the tabletrashbin for holding small trash and pour it.",
+    "Grab the little tabletrashbin with smooth texture and pour into big bin",
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Take the little tabletrashbin with smooth texture and empty it.",
+    "Grab the little tabletrashbin with smooth texture and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Pick up the little tabletrashbin with smooth texture, pour balls into the bin.",
+    "Pour the portable gray speckled tabletrashbin into the big bin.",
+    "Lift the little tabletrashbin with smooth texture and transfer the contents.",
+    "Grab the portable gray speckled tabletrashbin and pour the balls.",
+    "Pick up the portable gray speckled tabletrashbin and pour it.",
+    "Grab the tabletrashbin for holding small trash and pour into big bin",
+    "Lift the tabletrashbin for holding small trash and empty it.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Grab the portable gray speckled tabletrashbin and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Pick up the portable gray speckled tabletrashbin, pour balls into the bin.",
+    "Pour the little tabletrashbin with smooth texture into the big bin.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Grab the little tabletrashbin with smooth texture and pour the balls.",
+    "Pick up the little tabletrashbin with smooth texture and pour it.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Take the little tabletrashbin with smooth texture and empty it.",
+    "Grab the little tabletrashbin with smooth texture and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Pick up the little tabletrashbin with smooth texture, pour balls into the bin.",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Lift the little tabletrashbin with smooth texture and transfer the contents.",
+    "Grab the little tabletrashbin with smooth texture and pour the balls.",
+    "Pick up the tabletrashbin for holding small trash and pour it.",
+    "Grab the little tabletrashbin with smooth texture and pour into big bin",
+    "Lift the portable gray speckled tabletrashbin and empty it.",
+    "Take the portable gray speckled tabletrashbin and empty it.",
+    "Grab the tabletrashbin for holding small trash and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Pick up the tabletrashbin for holding small trash, pour balls into the bin.",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Grab the portable gray speckled tabletrashbin and pour the balls.",
+    "Pick up the tabletrashbin for holding small trash and pour it.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Take the little tabletrashbin with smooth texture and empty it.",
+    "Grab the tabletrashbin for holding small trash and pour balls.",
+    "Take the little tabletrashbin with smooth texture and empty into big bin",
+    "Pick up the little tabletrashbin with smooth texture, pour balls into the bin.",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Lift the little tabletrashbin with smooth texture and transfer the contents.",
+    "Grab the tabletrashbin for holding small trash and pour the balls.",
+    "Pick up the portable gray speckled tabletrashbin and pour it.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Lift the tabletrashbin for holding small trash and empty it.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Grab the tabletrashbin for holding small trash and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Pick up the little tabletrashbin with smooth texture, pour balls into the bin.",
+    "Pour the little tabletrashbin with smooth texture into the big bin.",
+    "Lift the little tabletrashbin with smooth texture and transfer the contents.",
+    "Grab the little tabletrashbin with smooth texture and pour the balls.",
+    "Pick up the portable gray speckled tabletrashbin and pour it.",
+    "Grab the little tabletrashbin with smooth texture and pour into big bin",
+    "Lift the portable gray speckled tabletrashbin and empty it.",
+    "Take the portable gray speckled tabletrashbin and empty it.",
+    "Grab the portable gray speckled tabletrashbin and pour balls.",
+    "Take the little tabletrashbin with smooth texture and empty into big bin",
+    "Pick up the little tabletrashbin with smooth texture, pour balls into the bin.",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Lift the little tabletrashbin with smooth texture and transfer the contents.",
+    "Grab the tabletrashbin for holding small trash and pour the balls.",
+    "Pick up the little tabletrashbin with smooth texture and pour it.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Grab the portable gray speckled tabletrashbin and pour balls.",
+    "Take the portable gray speckled tabletrashbin and empty into big bin",
+    "Pick up the portable gray speckled tabletrashbin, pour balls into the bin.",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Lift the tabletrashbin for holding small trash and transfer the contents.",
+    "Grab the portable gray speckled tabletrashbin and pour the balls.",
+    "Pick up the tabletrashbin for holding small trash and pour it.",
+    "Grab the little tabletrashbin with smooth texture and pour into big bin",
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Take the portable gray speckled tabletrashbin and empty it.",
+    "Grab the little tabletrashbin with smooth texture and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Pick up the tabletrashbin for holding small trash, pour balls into the bin.",
+    "Pour the portable gray speckled tabletrashbin into the big bin.",
+    "Lift the tabletrashbin for holding small trash and transfer the contents.",
+    "Grab the portable gray speckled tabletrashbin and pour the balls.",
+    "Pick up the tabletrashbin for holding small trash and pour it.",
+    "Grab the little tabletrashbin with smooth texture and pour into big bin"
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode139.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Control the arm to raise the white round tabletrashbin and pour.",
+    "Lift the cylindrical tabletrashbin with flared rim and pour balls into the bin.",
+    "Pick the white cylindrical waste bin, pour its contents out.",
+    "Move the arm, take the simple white plastic trashbin, and pour.",
+    "Take the compact tabletop trashbin and pour the balls.",
+    "Hold the tabletrashbin, dump balls in big bin",
+    "Use the arm to move the simple white plastic trashbin and pour.",
+    "Take hold of the mini white trashbin for desk, pour contents.",
+    "Use the arm to lift the cylindrical tabletrashbin with flared rim and empty it.",
+    "Use the arm to grab the white bin with flared top edge and pour.",
+    "Raise the simple white plastic trashbin to dump its contents out.",
+    "Grab the white round tabletrashbin, then pour balls into the bin.",
+    "Take the desk-sized white tabletrashbin and empty balls into the bin.",
+    "Use the arm to empty the white bin with flared top edge into the bin.",
+    "Hold the compact tabletop trashbin and pour the balls.",
+    "Grasp the mini white trashbin for desk and empty it out.",
+    "Pick the cylindrical small white trashbin up, pour all balls inside bin",
+    "Take the small white trashbin and pour the balls out.",
+    "Direct the arm to grab the compact tabletop trashbin and tilt.",
+    "Pick up the smooth plastic tabletrashbin using the arm, pour balls.",
+    "Pick up the mini white trashbin for desk and pour carefully.",
+    "Grab and tilt the compact tabletop trashbin to empty the balls.",
+    "Hold the desk-sized white tabletrashbin and dump its balls.",
+    "Lift the cylindrical small white trashbin, then pour the balls.",
+    "Hold the desk-sized white tabletrashbin and pour all balls into bin",
+    "Pour balls from the small white trashbin into the bin.",
+    "Take the white round tabletrashbin and empty its contents.",
+    "Pick up the white round tabletrashbin and pour into bin.",
+    "Grab the simple white plastic trashbin and transfer balls.",
+    "Lift the tabletrashbin, pour contents into big bin",
+    "Grab the white cylindrical waste bin, pour its contents away.",
+    "Take the cylindrical tabletrashbin with flared rim and pour contents.",
+    "Lift the white round tabletrashbin using the arm to pour balls.",
+    "Hold the compact tabletop trashbin, then pour contents.",
+    "Lift the white cylindrical waste bin and pour contents down.",
+    "Secure the desk-sized white tabletrashbin and pour the balls.",
+    "Lift the desk-sized white tabletrashbin, pour into the big bin.",
+    "Use arm to pick the small white trashbin, pour in bin",
+    "Use arm to grab the desk-sized white tabletrashbin, dump contents",
+    "Grab the smooth plastic tabletrashbin and empty it into the bin.",
+    "Pick up the cylindrical tabletrashbin with flared rim, empty into the big bin",
+    "Lift the cylindrical tabletrashbin with flared rim, pour the balls into big bin",
+    "Take the white bin with flared top edge using arm, pour contents inside",
+    "Lift the white bin with flared top edge and pour its contents into bin.",
+    "Lift up the tabletrashbin, then pour balls.",
+    "Grab the white round tabletrashbin and transfer balls to the bin.",
+    "Take hold of the cylindrical tabletrashbin with flared rim and dump the balls.",
+    "Use the smooth plastic tabletrashbin to pour the balls out.",
+    "Grab the tabletrashbin with arm and pour contents",
+    "Grab the white bin with flared top edge and pour it out.",
+    "Control the arm to raise the white bin with flared top edge and pour.",
+    "Lift the smooth plastic tabletrashbin and pour balls into the bin.",
+    "Pick the mini white trashbin for desk, pour its contents out.",
+    "Move the arm, take the tabletrashbin, and pour.",
+    "Take the small white trashbin and pour the balls.",
+    "Hold the cylindrical tabletrashbin with flared rim, dump balls in big bin",
+    "Use the arm to move the compact tabletop trashbin and pour.",
+    "Take hold of the simple white plastic trashbin, pour contents.",
+    "Use the arm to lift the white bin with flared top edge and empty it.",
+    "Use the arm to grab the white cylindrical waste bin and pour.",
+    "Raise the simple white plastic trashbin to dump its contents out.",
+    "Grab the desk-sized white tabletrashbin, then pour balls into the bin.",
+    "Take the white round tabletrashbin and empty balls into the bin.",
+    "Use the arm to empty the compact tabletop trashbin into the bin.",
+    "Hold the desk-sized white tabletrashbin and pour the balls.",
+    "Grasp the cylindrical small white trashbin and empty it out.",
+    "Pick the white bin with flared top edge up, pour all balls inside bin",
+    "Take the desk-sized white tabletrashbin and pour the balls out.",
+    "Direct the arm to grab the tabletrashbin and tilt.",
+    "Pick up the cylindrical small white trashbin using the arm, pour balls.",
+    "Pick up the cylindrical small white trashbin and pour carefully.",
+    "Grab and tilt the compact tabletop trashbin to empty the balls.",
+    "Hold the white round tabletrashbin and dump its balls.",
+    "Lift the mini white trashbin for desk, then pour the balls.",
+    "Hold the smooth plastic tabletrashbin and pour all balls into bin",
+    "Pour balls from the white round tabletrashbin into the bin.",
+    "Take the white cylindrical waste bin and empty its contents.",
+    "Pick up the simple white plastic trashbin and pour into bin.",
+    "Grab the cylindrical small white trashbin and transfer balls.",
+    "Lift the white bin with flared top edge, pour contents into big bin",
+    "Grab the tabletrashbin, pour its contents away.",
+    "Take the white cylindrical waste bin and pour contents.",
+    "Lift the mini white trashbin for desk using the arm to pour balls.",
+    "Hold the white cylindrical waste bin, then pour contents.",
+    "Lift the mini white trashbin for desk and pour contents down.",
+    "Secure the white bin with flared top edge and pour the balls.",
+    "Lift the white cylindrical waste bin, pour into the big bin.",
+    "Use arm to pick the mini white trashbin for desk, pour in bin",
+    "Use arm to grab the compact tabletop trashbin, dump contents",
+    "Grab the smooth plastic tabletrashbin and empty it into the bin.",
+    "Pick up the cylindrical small white trashbin, empty into the big bin",
+    "Lift the white bin with flared top edge, pour the balls into big bin",
+    "Take the white bin with flared top edge using arm, pour contents inside",
+    "Lift the small white trashbin and pour its contents into bin.",
+    "Lift up the white round tabletrashbin, then pour balls.",
+    "Grab the cylindrical small white trashbin and transfer balls to the bin.",
+    "Take hold of the white cylindrical waste bin and dump the balls.",
+    "Use the white round tabletrashbin to pour the balls out.",
+    "Grab the cylindrical tabletrashbin with flared rim with arm and pour contents",
+    "Grab the tabletrashbin and pour it out."
+  ],
+  "unseen": [
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Pour the lightweight round tabletop trashbin into the big bin.",
+    "Pick up the plastic tiny trashbin for tables, pour balls into the bin.",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Grab the small bin for table waste and pour into big bin",
+    "Pour the small bin for table waste into the big bin.",
+    "Pick up the plastic tiny trashbin for tables, pour balls into the bin.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Take the small bin for table waste and empty into big bin",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Grab the small bin for table waste and pour into big bin",
+    "Pour the small bin for table waste into the big bin.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Pour the small bin for table waste into the big bin.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Grab the small bin for table waste and pour into big bin",
+    "Pour the lightweight round tabletop trashbin into the big bin.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Grab the small bin for table waste and pour balls.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Grab the small bin for table waste and pour balls.",
+    "Lift the small bin for table waste and empty it.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Pick up the small bin for table waste and pour it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Grab the small bin for table waste and pour into big bin",
+    "Pour the small bin for table waste into the big bin.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Pick up the plastic tiny trashbin for tables, pour balls into the bin.",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Lift the small bin for table waste and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Pick up the small bin for table waste and pour it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Pour the small bin for table waste into the big bin.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Grab the small bin for table waste and pour balls.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode163.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arm to grab the open-top tabletrashbin, dump contents",
+    "Grasp the small light gray waste bin and empty it out.",
+    "Pick the light gray trashbin with open top, pour its contents out.",
+    "Lift the small rectangular tabletrashbin, pour the balls into big bin",
+    "Lift the bucket-shaped gray trashbin, pour into the big bin.",
+    "Pick up the tabletrashbin for holding waste, empty into the big bin",
+    "Hold the small rectangular bin for waste and pour all balls into bin",
+    "Take the small light gray waste bin and pour the balls out.",
+    "Lift the rectangular tabletop waste container and pour its contents into bin.",
+    "Lift the small rectangular bin for waste and pour contents down.",
+    "Pour balls from the light gray trashbin with open top into the bin.",
+    "Take the light gray trashbin with open top and pour contents.",
+    "Take the small rectangular bin for waste and pour the balls.",
+    "Pick up the bucket-shaped gray trashbin and pour carefully.",
+    "Move the arm, take the light gray tabletrashbin, and pour.",
+    "Control the arm to raise the light gray tabletrashbin and pour.",
+    "Raise the tabletrashbin for holding waste to dump its contents out.",
+    "Grab the rectangular tabletop waste container with arm and pour contents",
+    "Use the arm to empty the tabletrashbin with smooth grooves into the bin.",
+    "Lift up the light gray trashbin with open top, then pour balls.",
+    "Take the rectangular tabletop waste container and empty balls into the bin.",
+    "Pick up the gray plastic trashbin using the arm, pour balls.",
+    "Grab and tilt the open-top tabletrashbin to empty the balls.",
+    "Grab the rectangular tabletop waste container, pour its contents away.",
+    "Hold the tabletrashbin for holding waste and pour the balls.",
+    "Grab the small rectangular bin for waste and pour it out.",
+    "Hold the small rectangular tabletrashbin, dump balls in big bin",
+    "Lift the tabletrashbin for holding waste using the arm to pour balls.",
+    "Pick the small rectangular tabletrashbin up, pour all balls inside bin",
+    "Grab the light gray bucket-shaped waste bin and transfer balls to the bin.",
+    "Take the small light gray waste bin using arm, pour contents inside",
+    "Use the gray plastic trashbin to pour the balls out.",
+    "Hold the small rectangular bin for waste, then pour contents.",
+    "Use the arm to move the tabletrashbin with smooth grooves and pour.",
+    "Use the arm to grab the rectangular tabletop waste container and pour.",
+    "Take hold of the tabletrashbin for holding waste and dump the balls.",
+    "Grab the light gray trashbin with open top and empty it into the bin.",
+    "Use the arm to lift the light gray trashbin with open top and empty it.",
+    "Grab the light gray bucket-shaped waste bin, then pour balls into the bin.",
+    "Lift the small rectangular bin for waste, pour contents into big bin",
+    "Lift the light gray tabletrashbin and pour balls into the bin.",
+    "Take the light gray trashbin with open top and empty its contents.",
+    "Grab the small rectangular bin for waste and transfer balls.",
+    "Use arm to pick the rectangular tabletop waste container, pour in bin",
+    "Hold the small rectangular tabletrashbin and dump its balls.",
+    "Direct the arm to grab the bucket-shaped gray trashbin and tilt.",
+    "Secure the tabletrashbin for holding waste and pour the balls.",
+    "Pick up the bucket-shaped gray trashbin and pour into bin.",
+    "Lift the bucket-shaped gray trashbin, then pour the balls.",
+    "Take hold of the tabletrashbin for holding waste, pour contents.",
+    "Use arm to grab the small light gray waste bin, dump contents",
+    "Grasp the bucket-shaped gray trashbin and empty it out.",
+    "Pick the light gray trashbin with open top, pour its contents out.",
+    "Lift the open-top tabletrashbin, pour the balls into big bin",
+    "Lift the light gray tabletrashbin, pour into the big bin.",
+    "Pick up the bucket-shaped gray trashbin, empty into the big bin",
+    "Hold the tabletrashbin for holding waste and pour all balls into bin",
+    "Take the rectangular tabletop waste container and pour the balls out.",
+    "Lift the open-top tabletrashbin and pour its contents into bin.",
+    "Lift the light gray trashbin with open top and pour contents down.",
+    "Pour balls from the small light gray waste bin into the bin.",
+    "Take the open-top tabletrashbin and pour contents.",
+    "Take the small rectangular tabletrashbin and pour the balls.",
+    "Pick up the open-top tabletrashbin and pour carefully.",
+    "Move the arm, take the rectangular tabletop waste container, and pour.",
+    "Control the arm to raise the light gray trashbin with open top and pour.",
+    "Raise the small rectangular bin for waste to dump its contents out.",
+    "Grab the light gray tabletrashbin with arm and pour contents",
+    "Use the arm to empty the small light gray waste bin into the bin.",
+    "Lift up the small light gray waste bin, then pour balls.",
+    "Take the open-top tabletrashbin and empty balls into the bin.",
+    "Pick up the tabletrashbin with smooth grooves using the arm, pour balls.",
+    "Grab and tilt the small light gray waste bin to empty the balls.",
+    "Grab the tabletrashbin with smooth grooves, pour its contents away.",
+    "Hold the small rectangular tabletrashbin and pour the balls.",
+    "Grab the bucket-shaped gray trashbin and pour it out.",
+    "Hold the tabletrashbin for holding waste, dump balls in big bin",
+    "Lift the light gray bucket-shaped waste bin using the arm to pour balls.",
+    "Pick the small light gray waste bin up, pour all balls inside bin",
+    "Grab the bucket-shaped gray trashbin and transfer balls to the bin.",
+    "Take the small rectangular tabletrashbin using arm, pour contents inside",
+    "Use the tabletrashbin with smooth grooves to pour the balls out.",
+    "Hold the open-top tabletrashbin, then pour contents.",
+    "Use the arm to move the tabletrashbin with smooth grooves and pour.",
+    "Use the arm to grab the tabletrashbin with smooth grooves and pour.",
+    "Take hold of the gray plastic trashbin and dump the balls.",
+    "Grab the tabletrashbin for holding waste and empty it into the bin.",
+    "Use the arm to lift the open-top tabletrashbin and empty it.",
+    "Grab the rectangular tabletop waste container, then pour balls into the bin.",
+    "Lift the light gray trashbin with open top, pour contents into big bin",
+    "Lift the bucket-shaped gray trashbin and pour balls into the bin.",
+    "Take the tabletrashbin with smooth grooves and empty its contents.",
+    "Grab the gray plastic trashbin and transfer balls.",
+    "Use arm to pick the light gray trashbin with open top, pour in bin",
+    "Hold the rectangular tabletop waste container and dump its balls.",
+    "Direct the arm to grab the small rectangular tabletrashbin and tilt.",
+    "Secure the bucket-shaped gray trashbin and pour the balls.",
+    "Pick up the tabletrashbin for holding waste and pour into bin.",
+    "Lift the light gray tabletrashbin, then pour the balls.",
+    "Take hold of the bucket-shaped gray trashbin, pour contents."
+  ],
+  "unseen": [
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Grab the compact tabletop trashbin and pour balls."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode185.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the light gray trashbin with open top and transfer balls to the bin.",
+    "Move the arm, take the tabletrashbin for holding waste, and pour.",
+    "Use the small rectangular bin for waste to pour the balls out.",
+    "Grab the small rectangular tabletrashbin, pour its contents away.",
+    "Pour balls from the tabletrashbin with smooth grooves into the bin.",
+    "Pick up the open-top tabletrashbin and pour carefully.",
+    "Grab the tabletrashbin with smooth grooves, then pour balls into the bin.",
+    "Use the arm to grab the gray plastic trashbin and pour.",
+    "Grasp the rectangular tabletop waste container and empty it out.",
+    "Grab the small light gray waste bin and pour it out.",
+    "Grab and tilt the gray plastic trashbin to empty the balls.",
+    "Pick up the bucket-shaped gray trashbin and pour into bin.",
+    "Take the light gray tabletrashbin and empty its contents.",
+    "Take hold of the small light gray waste bin, pour contents.",
+    "Control the arm to raise the small rectangular tabletrashbin and pour.",
+    "Pick the light gray tabletrashbin up, pour all balls inside bin",
+    "Use the arm to empty the small rectangular bin for waste into the bin.",
+    "Hold the rectangular tabletop waste container, dump balls in big bin",
+    "Lift the light gray bucket-shaped waste bin, pour contents into big bin",
+    "Lift the light gray trashbin with open top, pour the balls into big bin",
+    "Lift the light gray trashbin with open top and pour its contents into bin.",
+    "Lift the light gray tabletrashbin, then pour the balls.",
+    "Take hold of the small rectangular tabletrashbin and dump the balls.",
+    "Lift the tabletrashbin for holding waste using the arm to pour balls.",
+    "Hold the light gray bucket-shaped waste bin and pour the balls.",
+    "Pick up the open-top tabletrashbin, empty into the big bin",
+    "Take the tabletrashbin with smooth grooves and pour contents.",
+    "Hold the small rectangular bin for waste and pour all balls into bin",
+    "Use arm to pick the small rectangular bin for waste, pour in bin",
+    "Lift the tabletrashbin with smooth grooves, pour into the big bin.",
+    "Grab the bucket-shaped gray trashbin with arm and pour contents",
+    "Use arm to grab the gray plastic trashbin, dump contents",
+    "Take the gray plastic trashbin using arm, pour contents inside",
+    "Grab the light gray trashbin with open top and empty it into the bin.",
+    "Lift the bucket-shaped gray trashbin and pour contents down.",
+    "Take the bucket-shaped gray trashbin and pour the balls.",
+    "Pick up the gray plastic trashbin using the arm, pour balls.",
+    "Take the small rectangular bin for waste and empty balls into the bin.",
+    "Use the arm to move the small rectangular tabletrashbin and pour.",
+    "Hold the open-top tabletrashbin and dump its balls.",
+    "Direct the arm to grab the light gray bucket-shaped waste bin and tilt.",
+    "Use the arm to lift the rectangular tabletop waste container and empty it.",
+    "Secure the small light gray waste bin and pour the balls.",
+    "Grab the rectangular tabletop waste container and transfer balls.",
+    "Lift the small rectangular tabletrashbin and pour balls into the bin.",
+    "Pick the light gray bucket-shaped waste bin, pour its contents out.",
+    "Raise the light gray tabletrashbin to dump its contents out.",
+    "Hold the light gray bucket-shaped waste bin, then pour contents.",
+    "Take the gray plastic trashbin and pour the balls out.",
+    "Lift up the small light gray waste bin, then pour balls.",
+    "Grab the open-top tabletrashbin and transfer balls to the bin.",
+    "Move the arm, take the rectangular tabletop waste container, and pour.",
+    "Use the tabletrashbin with smooth grooves to pour the balls out.",
+    "Grab the rectangular tabletop waste container, pour its contents away.",
+    "Pour balls from the gray plastic trashbin into the bin.",
+    "Pick up the small rectangular bin for waste and pour carefully.",
+    "Grab the light gray trashbin with open top, then pour balls into the bin.",
+    "Use the arm to grab the rectangular tabletop waste container and pour.",
+    "Grasp the open-top tabletrashbin and empty it out.",
+    "Grab the light gray trashbin with open top and pour it out.",
+    "Grab and tilt the light gray bucket-shaped waste bin to empty the balls.",
+    "Pick up the tabletrashbin for holding waste and pour into bin.",
+    "Take the light gray tabletrashbin and empty its contents.",
+    "Take hold of the open-top tabletrashbin, pour contents.",
+    "Control the arm to raise the small rectangular tabletrashbin and pour.",
+    "Pick the light gray tabletrashbin up, pour all balls inside bin",
+    "Use the arm to empty the light gray trashbin with open top into the bin.",
+    "Hold the light gray bucket-shaped waste bin, dump balls in big bin",
+    "Lift the gray plastic trashbin, pour contents into big bin",
+    "Lift the gray plastic trashbin, pour the balls into big bin",
+    "Lift the light gray trashbin with open top and pour its contents into bin.",
+    "Lift the tabletrashbin with smooth grooves, then pour the balls.",
+    "Take hold of the tabletrashbin with smooth grooves and dump the balls.",
+    "Lift the small light gray waste bin using the arm to pour balls.",
+    "Hold the light gray bucket-shaped waste bin and pour the balls.",
+    "Pick up the open-top tabletrashbin, empty into the big bin",
+    "Take the small rectangular tabletrashbin and pour contents.",
+    "Hold the light gray tabletrashbin and pour all balls into bin",
+    "Use arm to pick the gray plastic trashbin, pour in bin",
+    "Lift the light gray trashbin with open top, pour into the big bin.",
+    "Grab the tabletrashbin for holding waste with arm and pour contents",
+    "Use arm to grab the tabletrashbin for holding waste, dump contents",
+    "Take the tabletrashbin with smooth grooves using arm, pour contents inside",
+    "Grab the gray plastic trashbin and empty it into the bin.",
+    "Lift the light gray trashbin with open top and pour contents down.",
+    "Take the open-top tabletrashbin and pour the balls.",
+    "Pick up the light gray bucket-shaped waste bin using the arm, pour balls.",
+    "Take the tabletrashbin for holding waste and empty balls into the bin.",
+    "Use the arm to move the tabletrashbin for holding waste and pour.",
+    "Hold the small light gray waste bin and dump its balls.",
+    "Direct the arm to grab the light gray trashbin with open top and tilt.",
+    "Use the arm to lift the small rectangular bin for waste and empty it.",
+    "Secure the gray plastic trashbin and pour the balls.",
+    "Grab the light gray bucket-shaped waste bin and transfer balls.",
+    "Lift the open-top tabletrashbin and pour balls into the bin.",
+    "Pick the bucket-shaped gray trashbin, pour its contents out.",
+    "Raise the small light gray waste bin to dump its contents out.",
+    "Hold the tabletrashbin for holding waste, then pour contents.",
+    "Take the small rectangular tabletrashbin and pour the balls out.",
+    "Lift up the open-top tabletrashbin, then pour balls."
+  ],
+  "unseen": [
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the compact tabletop trashbin and empty it."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode192.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the light gray trashbin with open top and transfer balls to the bin.",
+    "Use the arm to grab the small rectangular bin for waste and pour.",
+    "Raise the small rectangular bin for waste to dump its contents out.",
+    "Hold the small light gray waste bin, then pour contents.",
+    "Take the open-top tabletrashbin and pour contents.",
+    "Direct the arm to grab the tabletrashbin for holding waste and tilt.",
+    "Grab the open-top tabletrashbin and pour it out.",
+    "Hold the small rectangular tabletrashbin and pour all balls into bin",
+    "Lift the light gray tabletrashbin and pour balls into the bin.",
+    "Use arm to grab the rectangular tabletop waste container, dump contents",
+    "Lift the bucket-shaped gray trashbin, pour the balls into big bin",
+    "Pour balls from the tabletrashbin with smooth grooves into the bin.",
+    "Grab the light gray bucket-shaped waste bin, pour its contents away.",
+    "Lift the small rectangular bin for waste, pour contents into big bin",
+    "Lift the rectangular tabletop waste container, pour into the big bin.",
+    "Lift the gray plastic trashbin, then pour the balls.",
+    "Pick up the small light gray waste bin, empty into the big bin",
+    "Pick up the small rectangular tabletrashbin and pour carefully.",
+    "Grab the open-top tabletrashbin and empty it into the bin.",
+    "Take hold of the light gray bucket-shaped waste bin and dump the balls.",
+    "Take the small rectangular tabletrashbin and pour the balls.",
+    "Take hold of the small rectangular tabletrashbin, pour contents.",
+    "Use the arm to lift the tabletrashbin with smooth grooves and empty it.",
+    "Use the arm to move the light gray bucket-shaped waste bin and pour.",
+    "Pick the rectangular tabletop waste container up, pour all balls inside bin",
+    "Grab the bucket-shaped gray trashbin with arm and pour contents",
+    "Take the tabletrashbin for holding waste and empty its contents.",
+    "Lift the bucket-shaped gray trashbin and pour contents down.",
+    "Grab and tilt the tabletrashbin with smooth grooves to empty the balls.",
+    "Lift the tabletrashbin with smooth grooves and pour its contents into bin.",
+    "Hold the tabletrashbin for holding waste and pour the balls.",
+    "Move the arm, take the tabletrashbin for holding waste, and pour.",
+    "Pick up the small light gray waste bin and pour into bin.",
+    "Grab the small light gray waste bin, then pour balls into the bin.",
+    "Pick up the rectangular tabletop waste container using the arm, pour balls.",
+    "Hold the bucket-shaped gray trashbin and dump its balls.",
+    "Grasp the rectangular tabletop waste container and empty it out.",
+    "Lift up the small rectangular tabletrashbin, then pour balls.",
+    "Use the tabletrashbin for holding waste to pour the balls out.",
+    "Take the rectangular tabletop waste container and empty balls into the bin.",
+    "Use the arm to empty the bucket-shaped gray trashbin into the bin.",
+    "Lift the light gray bucket-shaped waste bin using the arm to pour balls.",
+    "Use arm to pick the small light gray waste bin, pour in bin",
+    "Grab the light gray tabletrashbin and transfer balls.",
+    "Pick the light gray bucket-shaped waste bin, pour its contents out.",
+    "Take the tabletrashbin with smooth grooves using arm, pour contents inside",
+    "Control the arm to raise the light gray trashbin with open top and pour.",
+    "Secure the bucket-shaped gray trashbin and pour the balls.",
+    "Hold the small rectangular tabletrashbin, dump balls in big bin",
+    "Take the small rectangular tabletrashbin and pour the balls out.",
+    "Grab the rectangular tabletop waste container and transfer balls to the bin.",
+    "Use the arm to grab the tabletrashbin for holding waste and pour.",
+    "Raise the tabletrashbin for holding waste to dump its contents out.",
+    "Hold the small rectangular bin for waste, then pour contents.",
+    "Take the tabletrashbin for holding waste and pour contents.",
+    "Direct the arm to grab the light gray bucket-shaped waste bin and tilt.",
+    "Grab the light gray trashbin with open top and pour it out.",
+    "Hold the small rectangular bin for waste and pour all balls into bin",
+    "Lift the rectangular tabletop waste container and pour balls into the bin.",
+    "Use arm to grab the gray plastic trashbin, dump contents",
+    "Lift the small rectangular tabletrashbin, pour the balls into big bin",
+    "Pour balls from the small light gray waste bin into the bin.",
+    "Grab the bucket-shaped gray trashbin, pour its contents away.",
+    "Lift the bucket-shaped gray trashbin, pour contents into big bin",
+    "Lift the gray plastic trashbin, pour into the big bin.",
+    "Lift the small light gray waste bin, then pour the balls.",
+    "Pick up the tabletrashbin with smooth grooves, empty into the big bin",
+    "Pick up the small light gray waste bin and pour carefully.",
+    "Grab the light gray trashbin with open top and empty it into the bin.",
+    "Take hold of the rectangular tabletop waste container and dump the balls.",
+    "Take the gray plastic trashbin and pour the balls.",
+    "Take hold of the tabletrashbin with smooth grooves, pour contents.",
+    "Use the arm to lift the tabletrashbin for holding waste and empty it.",
+    "Use the arm to move the light gray tabletrashbin and pour.",
+    "Pick the bucket-shaped gray trashbin up, pour all balls inside bin",
+    "Grab the tabletrashbin with smooth grooves with arm and pour contents",
+    "Take the gray plastic trashbin and empty its contents.",
+    "Lift the small light gray waste bin and pour contents down.",
+    "Grab and tilt the light gray trashbin with open top to empty the balls.",
+    "Lift the small light gray waste bin and pour its contents into bin.",
+    "Hold the small light gray waste bin and pour the balls.",
+    "Move the arm, take the small light gray waste bin, and pour.",
+    "Pick up the small light gray waste bin and pour into bin.",
+    "Grab the light gray tabletrashbin, then pour balls into the bin.",
+    "Pick up the small rectangular tabletrashbin using the arm, pour balls.",
+    "Hold the small rectangular tabletrashbin and dump its balls.",
+    "Grasp the tabletrashbin for holding waste and empty it out.",
+    "Lift up the light gray tabletrashbin, then pour balls.",
+    "Use the small rectangular tabletrashbin to pour the balls out.",
+    "Take the light gray tabletrashbin and empty balls into the bin.",
+    "Use the arm to empty the small rectangular tabletrashbin into the bin.",
+    "Lift the rectangular tabletop waste container using the arm to pour balls.",
+    "Use arm to pick the light gray bucket-shaped waste bin, pour in bin",
+    "Grab the open-top tabletrashbin and transfer balls.",
+    "Pick the small rectangular bin for waste, pour its contents out.",
+    "Take the open-top tabletrashbin using arm, pour contents inside",
+    "Control the arm to raise the rectangular tabletop waste container and pour.",
+    "Secure the small rectangular bin for waste and pour the balls.",
+    "Hold the tabletrashbin for holding waste, dump balls in big bin",
+    "Take the light gray bucket-shaped waste bin and pour the balls out."
+  ],
+  "unseen": [
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode213.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the gray plastic trashbin, pour the balls into big bin",
+    "Pick up the rectangular tabletop waste container and pour carefully.",
+    "Take the tabletrashbin with smooth grooves and pour contents.",
+    "Use the arm to grab the tabletrashbin with smooth grooves and pour.",
+    "Move the arm, take the light gray trashbin with open top, and pour.",
+    "Take hold of the bucket-shaped gray trashbin, pour contents.",
+    "Use arm to grab the light gray tabletrashbin, dump contents",
+    "Take the small light gray waste bin and empty balls into the bin.",
+    "Use the arm to move the small rectangular bin for waste and pour.",
+    "Use the arm to lift the light gray bucket-shaped waste bin and empty it.",
+    "Grab and tilt the light gray tabletrashbin to empty the balls.",
+    "Hold the light gray trashbin with open top and pour the balls.",
+    "Lift the light gray tabletrashbin, pour contents into big bin",
+    "Use the open-top tabletrashbin to pour the balls out.",
+    "Hold the open-top tabletrashbin and dump its balls.",
+    "Direct the arm to grab the light gray tabletrashbin and tilt.",
+    "Grab the bucket-shaped gray trashbin and empty it into the bin.",
+    "Lift the small rectangular bin for waste and pour contents down.",
+    "Pour balls from the light gray trashbin with open top into the bin.",
+    "Take the tabletrashbin with smooth grooves and pour the balls.",
+    "Grab the small rectangular tabletrashbin and pour it out.",
+    "Pick up the bucket-shaped gray trashbin, empty into the big bin",
+    "Take the open-top tabletrashbin and pour the balls out.",
+    "Take hold of the small rectangular tabletrashbin and dump the balls.",
+    "Lift the bucket-shaped gray trashbin and pour its contents into bin.",
+    "Lift up the bucket-shaped gray trashbin, then pour balls.",
+    "Lift the rectangular tabletop waste container, pour into the big bin.",
+    "Hold the rectangular tabletop waste container, dump balls in big bin",
+    "Use arm to pick the small rectangular bin for waste, pour in bin",
+    "Take the gray plastic trashbin and empty its contents.",
+    "Grab the rectangular tabletop waste container, pour its contents away.",
+    "Hold the light gray bucket-shaped waste bin and pour all balls into bin",
+    "Grab the rectangular tabletop waste container and transfer balls to the bin.",
+    "Pick the bucket-shaped gray trashbin up, pour all balls inside bin",
+    "Grasp the tabletrashbin with smooth grooves and empty it out.",
+    "Lift the tabletrashbin with smooth grooves, then pour the balls.",
+    "Grab the light gray bucket-shaped waste bin and transfer balls.",
+    "Lift the light gray trashbin with open top using the arm to pour balls.",
+    "Take the tabletrashbin with smooth grooves using arm, pour contents inside",
+    "Pick the light gray tabletrashbin, pour its contents out.",
+    "Raise the small rectangular bin for waste to dump its contents out.",
+    "Pick up the tabletrashbin with smooth grooves and pour into bin.",
+    "Grab the light gray trashbin with open top, then pour balls into the bin.",
+    "Secure the light gray trashbin with open top and pour the balls.",
+    "Hold the gray plastic trashbin, then pour contents.",
+    "Pick up the small rectangular bin for waste using the arm, pour balls.",
+    "Control the arm to raise the light gray tabletrashbin and pour.",
+    "Lift the light gray bucket-shaped waste bin and pour balls into the bin.",
+    "Grab the tabletrashbin for holding waste with arm and pour contents",
+    "Use the arm to empty the bucket-shaped gray trashbin into the bin.",
+    "Lift the gray plastic trashbin, pour the balls into big bin",
+    "Pick up the light gray bucket-shaped waste bin and pour carefully.",
+    "Take the tabletrashbin for holding waste and pour contents.",
+    "Use the arm to grab the tabletrashbin for holding waste and pour.",
+    "Move the arm, take the open-top tabletrashbin, and pour.",
+    "Take hold of the rectangular tabletop waste container, pour contents.",
+    "Use arm to grab the light gray tabletrashbin, dump contents",
+    "Take the bucket-shaped gray trashbin and empty balls into the bin.",
+    "Use the arm to move the rectangular tabletop waste container and pour.",
+    "Use the arm to lift the light gray bucket-shaped waste bin and empty it.",
+    "Grab and tilt the light gray bucket-shaped waste bin to empty the balls.",
+    "Hold the bucket-shaped gray trashbin and pour the balls.",
+    "Lift the gray plastic trashbin, pour contents into big bin",
+    "Use the small light gray waste bin to pour the balls out.",
+    "Hold the open-top tabletrashbin and dump its balls.",
+    "Direct the arm to grab the tabletrashbin with smooth grooves and tilt.",
+    "Grab the gray plastic trashbin and empty it into the bin.",
+    "Lift the light gray bucket-shaped waste bin and pour contents down.",
+    "Pour balls from the small rectangular tabletrashbin into the bin.",
+    "Take the light gray bucket-shaped waste bin and pour the balls.",
+    "Grab the light gray bucket-shaped waste bin and pour it out.",
+    "Pick up the small light gray waste bin, empty into the big bin",
+    "Take the open-top tabletrashbin and pour the balls out.",
+    "Take hold of the small light gray waste bin and dump the balls.",
+    "Lift the gray plastic trashbin and pour its contents into bin.",
+    "Lift up the tabletrashbin with smooth grooves, then pour balls.",
+    "Lift the light gray tabletrashbin, pour into the big bin.",
+    "Hold the small rectangular tabletrashbin, dump balls in big bin",
+    "Use arm to pick the open-top tabletrashbin, pour in bin",
+    "Take the small rectangular tabletrashbin and empty its contents.",
+    "Grab the small rectangular tabletrashbin, pour its contents away.",
+    "Hold the open-top tabletrashbin and pour all balls into bin",
+    "Grab the small rectangular bin for waste and transfer balls to the bin.",
+    "Pick the bucket-shaped gray trashbin up, pour all balls inside bin",
+    "Grasp the light gray trashbin with open top and empty it out.",
+    "Lift the small rectangular tabletrashbin, then pour the balls.",
+    "Grab the light gray bucket-shaped waste bin and transfer balls.",
+    "Lift the bucket-shaped gray trashbin using the arm to pour balls.",
+    "Take the tabletrashbin with smooth grooves using arm, pour contents inside",
+    "Pick the light gray trashbin with open top, pour its contents out.",
+    "Raise the small rectangular bin for waste to dump its contents out.",
+    "Pick up the bucket-shaped gray trashbin and pour into bin.",
+    "Grab the light gray tabletrashbin, then pour balls into the bin.",
+    "Secure the gray plastic trashbin and pour the balls.",
+    "Hold the tabletrashbin for holding waste, then pour contents.",
+    "Pick up the open-top tabletrashbin using the arm, pour balls.",
+    "Control the arm to raise the light gray tabletrashbin and pour.",
+    "Lift the tabletrashbin for holding waste and pour balls into the bin.",
+    "Grab the gray plastic trashbin with arm and pour contents",
+    "Use the arm to empty the light gray tabletrashbin into the bin."
+  ],
+  "unseen": [
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Grab the smooth plastic tabletrashbin and pour balls."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode22.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the light gray trashbin with open top, pour into the big bin.",
+    "Control the arm to raise the bucket-shaped gray trashbin and pour.",
+    "Grab the light gray tabletrashbin, then pour balls into the bin.",
+    "Take the light gray bucket-shaped waste bin and pour contents.",
+    "Use arm to grab the rectangular tabletop waste container, dump contents",
+    "Grab the bucket-shaped gray trashbin and transfer balls to the bin.",
+    "Use the arm to empty the small light gray waste bin into the bin.",
+    "Pick the bucket-shaped gray trashbin up, pour all balls inside bin",
+    "Use the arm to grab the small light gray waste bin and pour.",
+    "Grab the small rectangular tabletrashbin with arm and pour contents",
+    "Lift the small rectangular bin for waste and pour balls into the bin.",
+    "Hold the light gray tabletrashbin and pour the balls.",
+    "Pick up the light gray trashbin with open top and pour carefully.",
+    "Take the rectangular tabletop waste container and pour the balls.",
+    "Move the arm, take the tabletrashbin for holding waste, and pour.",
+    "Take the light gray tabletrashbin using arm, pour contents inside",
+    "Use arm to pick the gray plastic trashbin, pour in bin",
+    "Lift up the light gray bucket-shaped waste bin, then pour balls.",
+    "Grab the tabletrashbin for holding waste and transfer balls.",
+    "Take hold of the open-top tabletrashbin, pour contents.",
+    "Use the arm to lift the light gray bucket-shaped waste bin and empty it.",
+    "Lift the light gray tabletrashbin, pour the balls into big bin",
+    "Take the tabletrashbin with smooth grooves and pour the balls out.",
+    "Use the small rectangular bin for waste to pour the balls out.",
+    "Use the arm to move the small rectangular tabletrashbin and pour.",
+    "Take the small rectangular bin for waste and empty balls into the bin.",
+    "Lift the tabletrashbin for holding waste, pour contents into big bin",
+    "Lift the tabletrashbin with smooth grooves, then pour the balls.",
+    "Hold the light gray tabletrashbin, dump balls in big bin",
+    "Lift the small rectangular bin for waste and pour contents down.",
+    "Raise the gray plastic trashbin to dump its contents out.",
+    "Hold the rectangular tabletop waste container and dump its balls.",
+    "Direct the arm to grab the light gray tabletrashbin and tilt.",
+    "Grasp the small rectangular bin for waste and empty it out.",
+    "Hold the rectangular tabletop waste container and pour all balls into bin",
+    "Secure the small rectangular tabletrashbin and pour the balls.",
+    "Grab the light gray tabletrashbin, pour its contents away.",
+    "Grab the bucket-shaped gray trashbin and empty it into the bin.",
+    "Pour balls from the small light gray waste bin into the bin.",
+    "Grab the tabletrashbin with smooth grooves and pour it out.",
+    "Take the tabletrashbin with smooth grooves and empty its contents.",
+    "Take hold of the light gray trashbin with open top and dump the balls.",
+    "Grab and tilt the small rectangular bin for waste to empty the balls.",
+    "Pick up the light gray bucket-shaped waste bin using the arm, pour balls.",
+    "Hold the small light gray waste bin, then pour contents.",
+    "Pick up the small rectangular bin for waste and pour into bin.",
+    "Pick up the small rectangular bin for waste, empty into the big bin",
+    "Pick the small rectangular bin for waste, pour its contents out.",
+    "Lift the light gray tabletrashbin and pour its contents into bin.",
+    "Lift the rectangular tabletop waste container using the arm to pour balls.",
+    "Lift the rectangular tabletop waste container, pour into the big bin.",
+    "Control the arm to raise the small light gray waste bin and pour.",
+    "Grab the light gray trashbin with open top, then pour balls into the bin.",
+    "Take the small rectangular tabletrashbin and pour contents.",
+    "Use arm to grab the gray plastic trashbin, dump contents",
+    "Grab the small rectangular tabletrashbin and transfer balls to the bin.",
+    "Use the arm to empty the bucket-shaped gray trashbin into the bin.",
+    "Pick the rectangular tabletop waste container up, pour all balls inside bin",
+    "Use the arm to grab the small light gray waste bin and pour.",
+    "Grab the light gray trashbin with open top with arm and pour contents",
+    "Lift the small light gray waste bin and pour balls into the bin.",
+    "Hold the light gray tabletrashbin and pour the balls.",
+    "Pick up the tabletrashbin for holding waste and pour carefully.",
+    "Take the light gray bucket-shaped waste bin and pour the balls.",
+    "Move the arm, take the tabletrashbin for holding waste, and pour.",
+    "Take the tabletrashbin for holding waste using arm, pour contents inside",
+    "Use arm to pick the small rectangular bin for waste, pour in bin",
+    "Lift up the small rectangular bin for waste, then pour balls.",
+    "Grab the light gray bucket-shaped waste bin and transfer balls.",
+    "Take hold of the light gray tabletrashbin, pour contents.",
+    "Use the arm to lift the bucket-shaped gray trashbin and empty it.",
+    "Lift the rectangular tabletop waste container, pour the balls into big bin",
+    "Take the rectangular tabletop waste container and pour the balls out.",
+    "Use the tabletrashbin for holding waste to pour the balls out.",
+    "Use the arm to move the light gray bucket-shaped waste bin and pour.",
+    "Take the light gray tabletrashbin and empty balls into the bin.",
+    "Lift the tabletrashbin for holding waste, pour contents into big bin",
+    "Lift the open-top tabletrashbin, then pour the balls.",
+    "Hold the rectangular tabletop waste container, dump balls in big bin",
+    "Lift the small rectangular bin for waste and pour contents down.",
+    "Raise the small rectangular tabletrashbin to dump its contents out.",
+    "Hold the bucket-shaped gray trashbin and dump its balls.",
+    "Direct the arm to grab the small light gray waste bin and tilt.",
+    "Grasp the gray plastic trashbin and empty it out.",
+    "Hold the gray plastic trashbin and pour all balls into bin",
+    "Secure the bucket-shaped gray trashbin and pour the balls.",
+    "Grab the light gray tabletrashbin, pour its contents away.",
+    "Grab the light gray bucket-shaped waste bin and empty it into the bin.",
+    "Pour balls from the light gray tabletrashbin into the bin.",
+    "Grab the light gray tabletrashbin and pour it out.",
+    "Take the light gray trashbin with open top and empty its contents.",
+    "Take hold of the small rectangular bin for waste and dump the balls.",
+    "Grab and tilt the light gray tabletrashbin to empty the balls.",
+    "Pick up the gray plastic trashbin using the arm, pour balls.",
+    "Hold the small light gray waste bin, then pour contents.",
+    "Pick up the bucket-shaped gray trashbin and pour into bin.",
+    "Pick up the tabletrashbin with smooth grooves, empty into the big bin",
+    "Pick the tabletrashbin for holding waste, pour its contents out.",
+    "Lift the light gray trashbin with open top and pour its contents into bin.",
+    "Lift the gray plastic trashbin using the arm to pour balls."
+  ],
+  "unseen": [
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Lift the smooth plastic tabletrashbin and empty it."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode255.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to empty the open gray tabletrashbin into the bin.",
+    "Move the arm, take the light gray tabletrashbin, and pour.",
+    "Control the arm to raise the open gray tabletrashbin and pour.",
+    "Grab the light gray waste container and transfer balls.",
+    "Lift the minimalist gray tabletrashbin, pour into the big bin.",
+    "Grab the small tabletop trashbin with arm and pour contents",
+    "Use the arm to move the simple tabletop trashbin and pour.",
+    "Grab the light gray cylindrical trashbin, pour its contents away.",
+    "Grab and tilt the light gray waste container to empty the balls.",
+    "Lift the light gray waste container and pour contents down.",
+    "Lift the light gray smooth tabletrashbin and pour balls into the bin.",
+    "Lift the minimalist gray tabletrashbin using the arm to pour balls.",
+    "Take the open gray tabletrashbin and empty its contents.",
+    "Hold the plastic tabletrashbin and pour the balls.",
+    "Pick up the round gray tabletrashbin, empty into the big bin",
+    "Pick up the light gray smooth tabletrashbin and pour into bin.",
+    "Take hold of the round gray tabletrashbin and dump the balls.",
+    "Grab the cylindrical tabletrashbin and transfer balls to the bin.",
+    "Lift the plastic tabletrashbin and pour its contents into bin.",
+    "Take the light gray tabletrashbin and pour contents.",
+    "Take the light gray tabletrashbin and pour the balls.",
+    "Use the arm to grab the simple tabletop trashbin and pour.",
+    "Grab the minimalist gray tabletrashbin and empty it into the bin.",
+    "Lift the small tabletop trashbin, then pour the balls.",
+    "Use arm to pick the open-top tabletrashbin, pour in bin",
+    "Pick up the light gray tabletrashbin using the arm, pour balls.",
+    "Lift up the open gray tabletrashbin, then pour balls.",
+    "Lift the simple tabletop trashbin, pour contents into big bin",
+    "Use the arm to lift the light gray waste container and empty it.",
+    "Hold the small tabletop trashbin and pour all balls into bin",
+    "Use the open-top tabletrashbin to pour the balls out.",
+    "Grasp the small tabletop trashbin and empty it out.",
+    "Secure the round gray tabletrashbin and pour the balls.",
+    "Take the round gray tabletrashbin and pour the balls out.",
+    "Hold the light gray cylindrical trashbin, then pour contents.",
+    "Pick up the open gray tabletrashbin and pour carefully.",
+    "Take the open-top tabletrashbin using arm, pour contents inside",
+    "Take hold of the light gray smooth tabletrashbin, pour contents.",
+    "Grab the light gray tabletrashbin and pour it out.",
+    "Direct the arm to grab the light gray waste container and tilt.",
+    "Hold the light gray cylindrical trashbin, dump balls in big bin",
+    "Raise the light gray smooth tabletrashbin to dump its contents out.",
+    "Grab the open gray tabletrashbin, then pour balls into the bin.",
+    "Lift the cylindrical tabletrashbin, pour the balls into big bin",
+    "Hold the light gray cylindrical trashbin and dump its balls.",
+    "Pour balls from the round gray tabletrashbin into the bin.",
+    "Take the light gray waste container and empty balls into the bin.",
+    "Pick the round gray tabletrashbin up, pour all balls inside bin",
+    "Pick the cylindrical tabletrashbin, pour its contents out.",
+    "Use arm to grab the light gray smooth tabletrashbin, dump contents",
+    "Use the arm to empty the minimalist gray tabletrashbin into the bin.",
+    "Move the arm, take the light gray tabletrashbin, and pour.",
+    "Control the arm to raise the round gray tabletrashbin and pour.",
+    "Grab the light gray tabletrashbin and transfer balls.",
+    "Lift the minimalist gray tabletrashbin, pour into the big bin.",
+    "Grab the open-top tabletrashbin with arm and pour contents",
+    "Use the arm to move the open gray tabletrashbin and pour.",
+    "Grab the minimalist gray tabletrashbin, pour its contents away.",
+    "Grab and tilt the light gray waste container to empty the balls.",
+    "Lift the open-top tabletrashbin and pour contents down.",
+    "Lift the light gray smooth tabletrashbin and pour balls into the bin.",
+    "Lift the simple tabletop trashbin using the arm to pour balls.",
+    "Take the light gray waste container and empty its contents.",
+    "Hold the open-top tabletrashbin and pour the balls.",
+    "Pick up the small tabletop trashbin, empty into the big bin",
+    "Pick up the small tabletop trashbin and pour into bin.",
+    "Take hold of the light gray tabletrashbin and dump the balls.",
+    "Grab the light gray tabletrashbin and transfer balls to the bin.",
+    "Lift the cylindrical tabletrashbin and pour its contents into bin.",
+    "Take the small tabletop trashbin and pour contents.",
+    "Take the round gray tabletrashbin and pour the balls.",
+    "Use the arm to grab the light gray tabletrashbin and pour.",
+    "Grab the open-top tabletrashbin and empty it into the bin.",
+    "Lift the minimalist gray tabletrashbin, then pour the balls.",
+    "Use arm to pick the cylindrical tabletrashbin, pour in bin",
+    "Pick up the light gray tabletrashbin using the arm, pour balls.",
+    "Lift up the light gray waste container, then pour balls.",
+    "Lift the light gray tabletrashbin, pour contents into big bin",
+    "Use the arm to lift the cylindrical tabletrashbin and empty it.",
+    "Hold the open gray tabletrashbin and pour all balls into bin",
+    "Use the open gray tabletrashbin to pour the balls out.",
+    "Grasp the light gray waste container and empty it out.",
+    "Secure the minimalist gray tabletrashbin and pour the balls.",
+    "Take the light gray waste container and pour the balls out.",
+    "Hold the light gray cylindrical trashbin, then pour contents.",
+    "Pick up the cylindrical tabletrashbin and pour carefully.",
+    "Take the light gray smooth tabletrashbin using arm, pour contents inside",
+    "Take hold of the cylindrical tabletrashbin, pour contents.",
+    "Grab the light gray smooth tabletrashbin and pour it out.",
+    "Direct the arm to grab the open gray tabletrashbin and tilt.",
+    "Hold the plastic tabletrashbin, dump balls in big bin",
+    "Raise the simple tabletop trashbin to dump its contents out.",
+    "Grab the simple tabletop trashbin, then pour balls into the bin.",
+    "Lift the open gray tabletrashbin, pour the balls into big bin",
+    "Hold the light gray tabletrashbin and dump its balls.",
+    "Pour balls from the open-top tabletrashbin into the bin.",
+    "Take the light gray smooth tabletrashbin and empty balls into the bin.",
+    "Pick the simple tabletop trashbin up, pour all balls inside bin",
+    "Pick the light gray waste container, pour its contents out.",
+    "Use arm to grab the light gray waste container, dump contents"
+  ],
+  "unseen": [
+    "Grab the small smooth gray trashbin and pour the balls.",
+    "Pour the tabletrashbin made of plastic into the big bin.",
+    "Grab the small smooth gray trashbin and pour balls.",
+    "Lift the tabletrashbin made of plastic and empty it.",
+    "Take the gray trashbin for tabletop and empty it.",
+    "Take the small smooth gray trashbin and empty into big bin",
+    "Pick up the small smooth gray trashbin and pour it.",
+    "Lift the small smooth gray trashbin and transfer the contents.",
+    "Grab the small smooth gray trashbin and pour into big bin",
+    "Pick up the tabletrashbin made of plastic, pour balls into the bin.",
+    "Grab the small smooth gray trashbin and pour the balls.",
+    "Pour the tabletrashbin made of plastic into the big bin.",
+    "Grab the small smooth gray trashbin and pour balls.",
+    "Lift the gray trashbin for tabletop and empty it.",
+    "Take the small smooth gray trashbin and empty it.",
+    "Take the small smooth gray trashbin and empty into big bin",
+    "Pick up the tabletrashbin made of plastic and pour it.",
+    "Lift the tabletrashbin made of plastic and transfer the contents.",
+    "Grab the small smooth gray trashbin and pour into big bin",
+    "Pick up the small smooth gray trashbin, pour balls into the bin.",
+    "Grab the small smooth gray trashbin and pour the balls.",
+    "Pour the small smooth gray trashbin into the big bin.",
+    "Grab the tabletrashbin made of plastic and pour balls.",
+    "Lift the gray trashbin for tabletop and empty it.",
+    "Take the gray trashbin for tabletop and empty it.",
+    "Take the gray trashbin for tabletop and empty into big bin",
+    "Pick up the tabletrashbin made of plastic and pour it.",
+    "Lift the small smooth gray trashbin and transfer the contents.",
+    "Grab the small smooth gray trashbin and pour into big bin",
+    "Pick up the tabletrashbin made of plastic, pour balls into the bin.",
+    "Grab the gray trashbin for tabletop and pour the balls.",
+    "Pour the small smooth gray trashbin into the big bin.",
+    "Grab the tabletrashbin made of plastic and pour balls.",
+    "Lift the gray trashbin for tabletop and empty it.",
+    "Take the small smooth gray trashbin and empty it.",
+    "Take the gray trashbin for tabletop and empty into big bin",
+    "Pick up the tabletrashbin made of plastic and pour it.",
+    "Lift the gray trashbin for tabletop and transfer the contents.",
+    "Grab the gray trashbin for tabletop and pour into big bin",
+    "Pick up the gray trashbin for tabletop, pour balls into the bin.",
+    "Grab the tabletrashbin made of plastic and pour the balls.",
+    "Pour the gray trashbin for tabletop into the big bin.",
+    "Grab the tabletrashbin made of plastic and pour balls.",
+    "Lift the gray trashbin for tabletop and empty it.",
+    "Take the small smooth gray trashbin and empty it.",
+    "Take the gray trashbin for tabletop and empty into big bin",
+    "Pick up the gray trashbin for tabletop and pour it.",
+    "Lift the tabletrashbin made of plastic and transfer the contents.",
+    "Grab the tabletrashbin made of plastic and pour into big bin",
+    "Pick up the small smooth gray trashbin, pour balls into the bin.",
+    "Grab the gray trashbin for tabletop and pour the balls.",
+    "Pour the gray trashbin for tabletop into the big bin.",
+    "Grab the small smooth gray trashbin and pour balls.",
+    "Lift the small smooth gray trashbin and empty it.",
+    "Take the tabletrashbin made of plastic and empty it.",
+    "Take the small smooth gray trashbin and empty into big bin",
+    "Pick up the small smooth gray trashbin and pour it.",
+    "Lift the small smooth gray trashbin and transfer the contents.",
+    "Grab the small smooth gray trashbin and pour into big bin",
+    "Pick up the small smooth gray trashbin, pour balls into the bin.",
+    "Grab the tabletrashbin made of plastic and pour the balls.",
+    "Pour the small smooth gray trashbin into the big bin.",
+    "Grab the small smooth gray trashbin and pour balls.",
+    "Lift the small smooth gray trashbin and empty it.",
+    "Take the tabletrashbin made of plastic and empty it.",
+    "Take the gray trashbin for tabletop and empty into big bin",
+    "Pick up the small smooth gray trashbin and pour it.",
+    "Lift the small smooth gray trashbin and transfer the contents.",
+    "Grab the small smooth gray trashbin and pour into big bin",
+    "Pick up the gray trashbin for tabletop, pour balls into the bin.",
+    "Grab the tabletrashbin made of plastic and pour the balls.",
+    "Pour the small smooth gray trashbin into the big bin.",
+    "Grab the tabletrashbin made of plastic and pour balls.",
+    "Lift the tabletrashbin made of plastic and empty it.",
+    "Take the small smooth gray trashbin and empty it.",
+    "Take the small smooth gray trashbin and empty into big bin",
+    "Pick up the small smooth gray trashbin and pour it.",
+    "Lift the small smooth gray trashbin and transfer the contents.",
+    "Grab the tabletrashbin made of plastic and pour into big bin",
+    "Pick up the gray trashbin for tabletop, pour balls into the bin.",
+    "Grab the tabletrashbin made of plastic and pour the balls.",
+    "Pour the tabletrashbin made of plastic into the big bin.",
+    "Grab the gray trashbin for tabletop and pour balls.",
+    "Lift the tabletrashbin made of plastic and empty it.",
+    "Take the small smooth gray trashbin and empty it.",
+    "Take the gray trashbin for tabletop and empty into big bin",
+    "Pick up the gray trashbin for tabletop and pour it.",
+    "Lift the gray trashbin for tabletop and transfer the contents.",
+    "Grab the tabletrashbin made of plastic and pour into big bin",
+    "Pick up the small smooth gray trashbin, pour balls into the bin.",
+    "Grab the gray trashbin for tabletop and pour the balls.",
+    "Pour the small smooth gray trashbin into the big bin.",
+    "Grab the small smooth gray trashbin and pour balls.",
+    "Lift the gray trashbin for tabletop and empty it.",
+    "Take the tabletrashbin made of plastic and empty it.",
+    "Take the gray trashbin for tabletop and empty into big bin",
+    "Pick up the small smooth gray trashbin and pour it.",
+    "Lift the tabletrashbin made of plastic and transfer the contents.",
+    "Grab the gray trashbin for tabletop and pour into big bin",
+    "Pick up the tabletrashbin made of plastic, pour balls into the bin."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode270.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Control the arm to raise the light gray trash bin and pour.",
+    "Use the arm to grab the light gray tabletrashbin and pour.",
+    "Take the small trash container and pour the balls.",
+    "Lift the tabletrashbin with yellow symbol, then pour the balls.",
+    "Lift the small container with yellow logo, pour the balls into big bin",
+    "Move the arm, take the smooth plastic tabletrashbin, and pour.",
+    "Hold the small trash container and pour all balls into bin",
+    "Use arm to pick the compact bin with rounded edges, pour in bin",
+    "Pick up the small container with yellow logo and pour into bin.",
+    "Take the compact bin with rounded edges using arm, pour contents inside",
+    "Hold the light gray tabletrashbin and dump its balls.",
+    "Lift the tabletrashbin with yellow symbol and pour balls into the bin.",
+    "Use the arm to move the small trash container and pour.",
+    "Lift the smooth tabletrashbin for small waste and pour contents down.",
+    "Take the small trash container and empty balls into the bin.",
+    "Hold the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the smooth plastic tabletrashbin and pour carefully.",
+    "Use arm to grab the compact rectangular tabletrashbin, dump contents",
+    "Pick up the smooth tabletrashbin for small waste using the arm, pour balls.",
+    "Hold the lightweight trash container, then pour contents.",
+    "Pick the compact bin with rounded edges up, pour all balls inside bin",
+    "Take hold of the tabletrashbin made of plastic and dump the balls.",
+    "Use the arm to lift the lightweight trash container and empty it.",
+    "Lift the compact bin with rounded edges and pour its contents into bin.",
+    "Grab and tilt the tabletrashbin with yellow symbol to empty the balls.",
+    "Take the small trash container and empty its contents.",
+    "Grab the small trash container, then pour balls into the bin.",
+    "Take the compact rectangular tabletrashbin and pour contents.",
+    "Lift the compact rectangular tabletrashbin using the arm to pour balls.",
+    "Grab the smooth tabletrashbin for small waste and empty it into the bin.",
+    "Pour balls from the tabletrashbin with grooves on sides into the bin.",
+    "Grab the smooth tabletrashbin for small waste, pour its contents away.",
+    "Grasp the compact bin with rounded edges and empty it out.",
+    "Grab the light gray trash bin and pour it out.",
+    "Lift up the light gray tabletrashbin, then pour balls.",
+    "Lift the compact bin with rounded edges, pour into the big bin.",
+    "Grab the tabletrashbin with grooves on sides and transfer balls to the bin.",
+    "Use the arm to empty the compact rectangular tabletrashbin into the bin.",
+    "Pick up the smooth tabletrashbin for small waste, empty into the big bin",
+    "Grab the light gray trash bin with arm and pour contents",
+    "Secure the smooth tabletrashbin for small waste and pour the balls.",
+    "Lift the tabletrashbin with grooves on sides, pour contents into big bin",
+    "Direct the arm to grab the light gray trash bin and tilt.",
+    "Hold the tabletrashbin with yellow symbol, dump balls in big bin",
+    "Grab the lightweight trash container and transfer balls.",
+    "Raise the small container with yellow logo to dump its contents out.",
+    "Take the small trash container and pour the balls out.",
+    "Pick the tabletrashbin with yellow symbol, pour its contents out.",
+    "Take hold of the small container with yellow logo, pour contents.",
+    "Use the small trash container to pour the balls out.",
+    "Control the arm to raise the compact bin with rounded edges and pour.",
+    "Use the arm to grab the lightweight trash container and pour.",
+    "Take the tabletrashbin with yellow symbol and pour the balls.",
+    "Lift the lightweight trash container, then pour the balls.",
+    "Lift the small trash container, pour the balls into big bin",
+    "Move the arm, take the small container with yellow logo, and pour.",
+    "Hold the lightweight trash container and pour all balls into bin",
+    "Use arm to pick the light gray tabletrashbin, pour in bin",
+    "Pick up the compact bin with rounded edges and pour into bin.",
+    "Take the tabletrashbin made of plastic using arm, pour contents inside",
+    "Hold the small trash container and dump its balls.",
+    "Lift the lightweight trash container and pour balls into the bin.",
+    "Use the arm to move the smooth tabletrashbin for small waste and pour.",
+    "Lift the compact rectangular tabletrashbin and pour contents down.",
+    "Take the tabletrashbin made of plastic and empty balls into the bin.",
+    "Hold the smooth plastic tabletrashbin and pour the balls.",
+    "Pick up the light gray tabletrashbin and pour carefully.",
+    "Use arm to grab the light gray trash bin, dump contents",
+    "Pick up the compact rectangular tabletrashbin using the arm, pour balls.",
+    "Hold the compact bin with rounded edges, then pour contents.",
+    "Pick the compact rectangular tabletrashbin up, pour all balls inside bin",
+    "Take hold of the light gray tabletrashbin and dump the balls.",
+    "Use the arm to lift the tabletrashbin with yellow symbol and empty it.",
+    "Lift the tabletrashbin made of plastic and pour its contents into bin.",
+    "Grab and tilt the compact rectangular tabletrashbin to empty the balls.",
+    "Take the light gray tabletrashbin and empty its contents.",
+    "Grab the tabletrashbin with grooves on sides, then pour balls into the bin.",
+    "Take the small trash container and pour contents.",
+    "Lift the small container with yellow logo using the arm to pour balls.",
+    "Grab the smooth plastic tabletrashbin and empty it into the bin.",
+    "Pour balls from the smooth plastic tabletrashbin into the bin.",
+    "Grab the tabletrashbin made of plastic, pour its contents away.",
+    "Grasp the light gray trash bin and empty it out.",
+    "Grab the smooth tabletrashbin for small waste and pour it out.",
+    "Lift up the lightweight trash container, then pour balls.",
+    "Lift the tabletrashbin with yellow symbol, pour into the big bin.",
+    "Grab the small container with yellow logo and transfer balls to the bin.",
+    "Use the arm to empty the smooth plastic tabletrashbin into the bin.",
+    "Pick up the lightweight trash container, empty into the big bin",
+    "Grab the small trash container with arm and pour contents",
+    "Secure the compact bin with rounded edges and pour the balls.",
+    "Lift the light gray trash bin, pour contents into big bin",
+    "Direct the arm to grab the small trash container and tilt.",
+    "Hold the tabletrashbin with grooves on sides, dump balls in big bin",
+    "Grab the tabletrashbin made of plastic and transfer balls.",
+    "Raise the smooth plastic tabletrashbin to dump its contents out.",
+    "Take the light gray tabletrashbin and pour the balls out.",
+    "Pick the small container with yellow logo, pour its contents out.",
+    "Take hold of the small container with yellow logo, pour contents.",
+    "Use the light gray tabletrashbin to pour the balls out."
+  ],
+  "unseen": [
+    "Grab the rectangular plastic bin and pour the balls.",
+    "Take the rectangular light gray trash bin and empty into big bin",
+    "Take the tabletrashbin for tabletop use and empty it.",
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Pick up the rectangular light gray trash bin and pour it.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pour the rectangular plastic bin into the big bin.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Grab the tabletrashbin for tabletop use and pour into big bin",
+    "Lift the tabletrashbin for tabletop use and transfer the contents.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Take the rectangular plastic bin and empty it.",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Pick up the rectangular plastic bin and pour it.",
+    "Lift the rectangular light gray trash bin and empty it.",
+    "Pour the rectangular plastic bin into the big bin.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Grab the rectangular light gray trash bin and pour into big bin",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Grab the rectangular plastic bin and pour the balls.",
+    "Take the tabletrashbin for tabletop use and empty into big bin",
+    "Take the tabletrashbin for tabletop use and empty it.",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Pick up the rectangular plastic bin and pour it.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Grab the rectangular light gray trash bin and pour into big bin",
+    "Lift the tabletrashbin for tabletop use and transfer the contents.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Take the tabletrashbin for tabletop use and empty into big bin",
+    "Take the rectangular light gray trash bin and empty it.",
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Pick up the rectangular plastic bin and pour it.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pour the rectangular plastic bin into the big bin.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Lift the rectangular light gray trash bin and transfer the contents.",
+    "Grab the rectangular light gray trash bin and pour the balls.",
+    "Take the tabletrashbin for tabletop use and empty into big bin",
+    "Take the rectangular light gray trash bin and empty it.",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Lift the rectangular light gray trash bin and empty it.",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Pick up the rectangular plastic bin, pour balls into the bin.",
+    "Grab the rectangular light gray trash bin and pour into big bin",
+    "Lift the tabletrashbin for tabletop use and transfer the contents.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Take the rectangular light gray trash bin and empty it.",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Lift the rectangular plastic bin and empty it.",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Grab the tabletrashbin for tabletop use and pour into big bin",
+    "Lift the rectangular light gray trash bin and transfer the contents.",
+    "Grab the rectangular light gray trash bin and pour the balls.",
+    "Take the tabletrashbin for tabletop use and empty into big bin",
+    "Take the tabletrashbin for tabletop use and empty it.",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Pick up the rectangular light gray trash bin and pour it.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Take the rectangular light gray trash bin and empty it.",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Pick up the rectangular plastic bin and pour it.",
+    "Lift the rectangular plastic bin and empty it.",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Lift the rectangular light gray trash bin and transfer the contents.",
+    "Grab the rectangular plastic bin and pour the balls.",
+    "Take the rectangular light gray trash bin and empty into big bin",
+    "Take the rectangular plastic bin and empty it.",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Pick up the rectangular plastic bin and pour it.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Pick up the rectangular plastic bin, pour balls into the bin.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Lift the rectangular light gray trash bin and transfer the contents.",
+    "Grab the rectangular plastic bin and pour the balls.",
+    "Take the rectangular light gray trash bin and empty into big bin",
+    "Take the rectangular plastic bin and empty it.",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Lift the rectangular plastic bin and empty it.",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Grab the rectangular light gray trash bin and pour into big bin",
+    "Lift the rectangular light gray trash bin and transfer the contents."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode313.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the small white trashbin and pour the balls.",
+    "Grab the white bin with flared top edge and empty it into the bin.",
+    "Pick up the white round tabletrashbin and pour into bin.",
+    "Raise the desk-sized white tabletrashbin to dump its contents out.",
+    "Take the white bin with flared top edge and pour the balls.",
+    "Lift the desk-sized white tabletrashbin and pour balls into the bin.",
+    "Direct the arm to grab the white round tabletrashbin and tilt.",
+    "Lift the white bin with flared top edge, then pour the balls.",
+    "Hold the simple white plastic trashbin and pour all balls into bin",
+    "Take the smooth plastic tabletrashbin and pour contents.",
+    "Lift the smooth plastic tabletrashbin using the arm to pour balls.",
+    "Lift the small white trashbin, pour contents into big bin",
+    "Lift the desk-sized white tabletrashbin, pour the balls into big bin",
+    "Use the arm to lift the small white trashbin and empty it.",
+    "Grab the white cylindrical waste bin and transfer balls.",
+    "Lift the cylindrical small white trashbin, pour into the big bin.",
+    "Hold the compact tabletop trashbin, dump balls in big bin",
+    "Take the white round tabletrashbin and empty balls into the bin.",
+    "Control the arm to raise the mini white trashbin for desk and pour.",
+    "Grab the white round tabletrashbin, pour its contents away.",
+    "Lift the white bin with flared top edge and pour its contents into bin.",
+    "Lift the simple white plastic trashbin and pour contents down.",
+    "Grab the white round tabletrashbin and pour it out.",
+    "Use arm to pick the cylindrical small white trashbin, pour in bin",
+    "Pick up the cylindrical small white trashbin, empty into the big bin",
+    "Grab the compact tabletop trashbin with arm and pour contents",
+    "Pick the desk-sized white tabletrashbin, pour its contents out.",
+    "Hold the cylindrical tabletrashbin with flared rim and pour the balls.",
+    "Move the arm, take the compact tabletop trashbin, and pour.",
+    "Use the arm to empty the cylindrical small white trashbin into the bin.",
+    "Take hold of the white round tabletrashbin, pour contents.",
+    "Grab the small white trashbin and transfer balls to the bin.",
+    "Take the small white trashbin and pour the balls out.",
+    "Pour balls from the simple white plastic trashbin into the bin.",
+    "Pick up the cylindrical small white trashbin and pour carefully.",
+    "Take the white cylindrical waste bin using arm, pour contents inside",
+    "Use arm to grab the mini white trashbin for desk, dump contents",
+    "Pick up the compact tabletop trashbin using the arm, pour balls.",
+    "Use the arm to grab the smooth plastic tabletrashbin and pour.",
+    "Use the simple white plastic trashbin to pour the balls out.",
+    "Grab the desk-sized white tabletrashbin, then pour balls into the bin.",
+    "Pick the white round tabletrashbin up, pour all balls inside bin",
+    "Use the arm to move the simple white plastic trashbin and pour.",
+    "Take the small white trashbin and empty its contents.",
+    "Grab and tilt the desk-sized white tabletrashbin to empty the balls.",
+    "Grasp the mini white trashbin for desk and empty it out.",
+    "Hold the smooth plastic tabletrashbin, then pour contents.",
+    "Lift up the small white trashbin, then pour balls.",
+    "Take hold of the white bin with flared top edge and dump the balls.",
+    "Hold the mini white trashbin for desk and dump its balls.",
+    "Secure the mini white trashbin for desk and pour the balls.",
+    "Grab the small white trashbin and empty it into the bin.",
+    "Pick up the mini white trashbin for desk and pour into bin.",
+    "Raise the small white trashbin to dump its contents out.",
+    "Take the desk-sized white tabletrashbin and pour the balls.",
+    "Lift the cylindrical small white trashbin and pour balls into the bin.",
+    "Direct the arm to grab the compact tabletop trashbin and tilt.",
+    "Lift the small white trashbin, then pour the balls.",
+    "Hold the cylindrical tabletrashbin with flared rim and pour all balls into bin",
+    "Take the tabletrashbin and pour contents.",
+    "Lift the simple white plastic trashbin using the arm to pour balls.",
+    "Lift the small white trashbin, pour contents into big bin",
+    "Lift the simple white plastic trashbin, pour the balls into big bin",
+    "Use the arm to lift the compact tabletop trashbin and empty it.",
+    "Grab the white cylindrical waste bin and transfer balls.",
+    "Lift the white bin with flared top edge, pour into the big bin.",
+    "Hold the compact tabletop trashbin, dump balls in big bin",
+    "Take the desk-sized white tabletrashbin and empty balls into the bin.",
+    "Control the arm to raise the white bin with flared top edge and pour.",
+    "Grab the white round tabletrashbin, pour its contents away.",
+    "Lift the white cylindrical waste bin and pour its contents into bin.",
+    "Lift the cylindrical tabletrashbin with flared rim and pour contents down.",
+    "Grab the simple white plastic trashbin and pour it out.",
+    "Use arm to pick the desk-sized white tabletrashbin, pour in bin",
+    "Pick up the tabletrashbin, empty into the big bin",
+    "Grab the tabletrashbin with arm and pour contents",
+    "Pick the small white trashbin, pour its contents out.",
+    "Hold the cylindrical small white trashbin and pour the balls.",
+    "Move the arm, take the mini white trashbin for desk, and pour.",
+    "Use the arm to empty the white cylindrical waste bin into the bin.",
+    "Take hold of the cylindrical small white trashbin, pour contents.",
+    "Grab the cylindrical small white trashbin and transfer balls to the bin.",
+    "Take the white round tabletrashbin and pour the balls out.",
+    "Pour balls from the desk-sized white tabletrashbin into the bin.",
+    "Pick up the cylindrical small white trashbin and pour carefully.",
+    "Take the cylindrical tabletrashbin with flared rim using arm, pour contents inside",
+    "Use arm to grab the white round tabletrashbin, dump contents",
+    "Pick up the white round tabletrashbin using the arm, pour balls.",
+    "Use the arm to grab the smooth plastic tabletrashbin and pour.",
+    "Use the smooth plastic tabletrashbin to pour the balls out.",
+    "Grab the small white trashbin, then pour balls into the bin.",
+    "Pick the simple white plastic trashbin up, pour all balls inside bin",
+    "Use the arm to move the simple white plastic trashbin and pour.",
+    "Take the simple white plastic trashbin and empty its contents.",
+    "Grab and tilt the compact tabletop trashbin to empty the balls.",
+    "Grasp the cylindrical small white trashbin and empty it out.",
+    "Hold the cylindrical tabletrashbin with flared rim, then pour contents.",
+    "Lift up the tabletrashbin, then pour balls.",
+    "Take hold of the cylindrical tabletrashbin with flared rim and dump the balls.",
+    "Hold the desk-sized white tabletrashbin and dump its balls."
+  ],
+  "unseen": [
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Pour the small bin for table waste into the big bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Grab the small bin for table waste and pour balls.",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Take the small bin for table waste and empty into big bin",
+    "Grab the small bin for table waste and pour into big bin",
+    "Pour the small bin for table waste into the big bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Pour the lightweight round tabletop trashbin into the big bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Grab the small bin for table waste and pour into big bin",
+    "Pour the lightweight round tabletop trashbin into the big bin.",
+    "Pick up the small bin for table waste and pour it.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Lift the small bin for table waste and empty it.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Take the small bin for table waste and empty into big bin",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Pour the small bin for table waste into the big bin.",
+    "Pick up the small bin for table waste and pour it.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Grab the small bin for table waste and pour balls.",
+    "Take the small bin for table waste and empty it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Grab the small bin for table waste and pour into big bin",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Lift the small bin for table waste and empty it.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Grab the small bin for table waste and pour balls.",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Take the small bin for table waste and empty into big bin",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Pour the small bin for table waste into the big bin.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Grab the small bin for table waste and pour balls.",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Grab the small bin for table waste and pour into big bin",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Lift the small bin for table waste and empty it.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Pour the small bin for table waste into the big bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Take the small bin for table waste and empty it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Grab the small bin for table waste and pour into big bin",
+    "Pour the small bin for table waste into the big bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Grab the small bin for table waste and pour balls.",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Take the small bin for table waste and empty into big bin"
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode374.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the small container with yellow logo and empty its contents.",
+    "Grab the smooth plastic tabletrashbin and transfer balls.",
+    "Use arm to pick the tabletrashbin made of plastic, pour in bin",
+    "Lift the small container with yellow logo using the arm to pour balls.",
+    "Lift the small container with yellow logo and pour balls into the bin.",
+    "Grab the tabletrashbin with yellow symbol and empty it into the bin.",
+    "Pick up the compact bin with rounded edges, empty into the big bin",
+    "Lift up the lightweight trash container, then pour balls.",
+    "Use arm to grab the light gray trash bin, dump contents",
+    "Take the small container with yellow logo and pour the balls.",
+    "Control the arm to raise the smooth tabletrashbin for small waste and pour.",
+    "Hold the light gray trash bin and dump its balls.",
+    "Take the tabletrashbin with yellow symbol and empty balls into the bin.",
+    "Use the arm to move the compact rectangular tabletrashbin and pour.",
+    "Lift the light gray tabletrashbin, pour into the big bin.",
+    "Pick the tabletrashbin made of plastic up, pour all balls inside bin",
+    "Use the arm to empty the tabletrashbin with yellow symbol into the bin.",
+    "Hold the small trash container, dump balls in big bin",
+    "Use the compact rectangular tabletrashbin to pour the balls out.",
+    "Lift the smooth tabletrashbin for small waste, then pour the balls.",
+    "Grab the compact bin with rounded edges, pour its contents away.",
+    "Pick up the compact bin with rounded edges and pour into bin.",
+    "Move the arm, take the smooth tabletrashbin for small waste, and pour.",
+    "Grab the light gray trash bin and transfer balls to the bin.",
+    "Grasp the smooth tabletrashbin for small waste and empty it out.",
+    "Take the small trash container using arm, pour contents inside",
+    "Pick up the compact rectangular tabletrashbin and pour carefully.",
+    "Pick the compact rectangular tabletrashbin, pour its contents out.",
+    "Hold the small trash container and pour all balls into bin",
+    "Grab and tilt the small trash container to empty the balls.",
+    "Lift the tabletrashbin with yellow symbol and pour its contents into bin.",
+    "Secure the small trash container and pour the balls.",
+    "Take the small trash container and pour the balls out.",
+    "Pour balls from the tabletrashbin with yellow symbol into the bin.",
+    "Lift the small container with yellow logo, pour contents into big bin",
+    "Grab the tabletrashbin made of plastic with arm and pour contents",
+    "Take the light gray trash bin and pour contents.",
+    "Hold the tabletrashbin made of plastic, then pour contents.",
+    "Direct the arm to grab the compact rectangular tabletrashbin and tilt.",
+    "Lift the tabletrashbin with yellow symbol and pour contents down.",
+    "Use the arm to grab the small container with yellow logo and pour.",
+    "Raise the tabletrashbin made of plastic to dump its contents out.",
+    "Pick up the compact rectangular tabletrashbin using the arm, pour balls.",
+    "Take hold of the small trash container, pour contents.",
+    "Hold the light gray tabletrashbin and pour the balls.",
+    "Lift the tabletrashbin made of plastic, pour the balls into big bin",
+    "Use the arm to lift the small container with yellow logo and empty it.",
+    "Grab the light gray tabletrashbin and pour it out.",
+    "Take hold of the tabletrashbin with yellow symbol and dump the balls.",
+    "Grab the compact bin with rounded edges, then pour balls into the bin.",
+    "Take the compact bin with rounded edges and empty its contents.",
+    "Grab the light gray tabletrashbin and transfer balls.",
+    "Use arm to pick the lightweight trash container, pour in bin",
+    "Lift the smooth tabletrashbin for small waste using the arm to pour balls.",
+    "Lift the light gray trash bin and pour balls into the bin.",
+    "Grab the light gray trash bin and empty it into the bin.",
+    "Pick up the smooth tabletrashbin for small waste, empty into the big bin",
+    "Lift up the tabletrashbin with yellow symbol, then pour balls.",
+    "Use arm to grab the small container with yellow logo, dump contents",
+    "Take the lightweight trash container and pour the balls.",
+    "Control the arm to raise the tabletrashbin with grooves on sides and pour.",
+    "Hold the small container with yellow logo and dump its balls.",
+    "Take the smooth tabletrashbin for small waste and empty balls into the bin.",
+    "Use the arm to move the tabletrashbin with yellow symbol and pour.",
+    "Lift the smooth plastic tabletrashbin, pour into the big bin.",
+    "Pick the lightweight trash container up, pour all balls inside bin",
+    "Use the arm to empty the compact rectangular tabletrashbin into the bin.",
+    "Hold the smooth plastic tabletrashbin, dump balls in big bin",
+    "Use the small trash container to pour the balls out.",
+    "Lift the smooth tabletrashbin for small waste, then pour the balls.",
+    "Grab the smooth tabletrashbin for small waste, pour its contents away.",
+    "Pick up the smooth plastic tabletrashbin and pour into bin.",
+    "Move the arm, take the light gray tabletrashbin, and pour.",
+    "Grab the tabletrashbin with grooves on sides and transfer balls to the bin.",
+    "Grasp the tabletrashbin made of plastic and empty it out.",
+    "Take the tabletrashbin with grooves on sides using arm, pour contents inside",
+    "Pick up the tabletrashbin with grooves on sides and pour carefully.",
+    "Pick the light gray trash bin, pour its contents out.",
+    "Hold the small container with yellow logo and pour all balls into bin",
+    "Grab and tilt the small trash container to empty the balls.",
+    "Lift the smooth tabletrashbin for small waste and pour its contents into bin.",
+    "Secure the lightweight trash container and pour the balls.",
+    "Take the light gray tabletrashbin and pour the balls out.",
+    "Pour balls from the smooth tabletrashbin for small waste into the bin.",
+    "Lift the smooth plastic tabletrashbin, pour contents into big bin",
+    "Grab the compact rectangular tabletrashbin with arm and pour contents",
+    "Take the light gray trash bin and pour contents.",
+    "Hold the light gray trash bin, then pour contents.",
+    "Direct the arm to grab the small trash container and tilt.",
+    "Lift the smooth plastic tabletrashbin and pour contents down.",
+    "Use the arm to grab the small trash container and pour.",
+    "Raise the compact bin with rounded edges to dump its contents out.",
+    "Pick up the lightweight trash container using the arm, pour balls.",
+    "Take hold of the tabletrashbin made of plastic, pour contents.",
+    "Hold the compact bin with rounded edges and pour the balls.",
+    "Lift the smooth tabletrashbin for small waste, pour the balls into big bin",
+    "Use the arm to lift the lightweight trash container and empty it.",
+    "Grab the small container with yellow logo and pour it out.",
+    "Take hold of the small container with yellow logo and dump the balls.",
+    "Grab the tabletrashbin with yellow symbol, then pour balls into the bin."
+  ],
+  "unseen": [
+    "Pick up the rectangular plastic bin and pour it.",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Grab the rectangular light gray trash bin and pour into big bin",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Take the rectangular plastic bin and empty it.",
+    "Grab the rectangular plastic bin and pour the balls.",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Lift the rectangular plastic bin and empty it.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Take the tabletrashbin for tabletop use and empty into big bin",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Take the rectangular plastic bin and empty it.",
+    "Grab the rectangular light gray trash bin and pour the balls.",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pick up the rectangular plastic bin, pour balls into the bin.",
+    "Lift the rectangular light gray trash bin and transfer the contents.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Grab the tabletrashbin for tabletop use and pour into big bin",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Take the rectangular plastic bin and empty it.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Pick up the rectangular plastic bin and pour it.",
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Lift the rectangular light gray trash bin and empty it.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Take the rectangular light gray trash bin and empty into big bin",
+    "Grab the tabletrashbin for tabletop use and pour into big bin",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Take the rectangular plastic bin and empty it.",
+    "Grab the rectangular plastic bin and pour the balls.",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Lift the rectangular plastic bin and empty it.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Lift the tabletrashbin for tabletop use and transfer the contents.",
+    "Take the rectangular light gray trash bin and empty into big bin",
+    "Grab the rectangular light gray trash bin and pour into big bin",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Take the tabletrashbin for tabletop use and empty it.",
+    "Grab the rectangular light gray trash bin and pour the balls.",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Grab the tabletrashbin for tabletop use and pour into big bin",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Take the rectangular plastic bin and empty it.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Pick up the rectangular light gray trash bin and pour it.",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pick up the rectangular plastic bin, pour balls into the bin.",
+    "Lift the tabletrashbin for tabletop use and transfer the contents.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Take the tabletrashbin for tabletop use and empty it.",
+    "Grab the rectangular light gray trash bin and pour the balls.",
+    "Pick up the rectangular plastic bin and pour it.",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Lift the tabletrashbin for tabletop use and transfer the contents.",
+    "Take the rectangular light gray trash bin and empty into big bin",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Take the rectangular light gray trash bin and empty it.",
+    "Grab the rectangular light gray trash bin and pour the balls.",
+    "Pick up the rectangular light gray trash bin and pour it.",
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Take the rectangular light gray trash bin and empty it.",
+    "Grab the rectangular light gray trash bin and pour the balls.",
+    "Pick up the rectangular plastic bin and pour it.",
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Lift the rectangular plastic bin and empty it.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Take the tabletrashbin for tabletop use and empty into big bin",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Take the rectangular plastic bin and empty it.",
+    "Grab the rectangular plastic bin and pour the balls."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode376.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to empty the light gray tabletrashbin into the bin.",
+    "Pick up the gray plastic trashbin, empty into the big bin",
+    "Lift the small rectangular tabletrashbin and pour its contents into bin.",
+    "Lift the light gray trashbin with open top and pour balls into the bin.",
+    "Hold the bucket-shaped gray trashbin, then pour contents.",
+    "Use the arm to grab the light gray trashbin with open top and pour.",
+    "Use arm to pick the small rectangular bin for waste, pour in bin",
+    "Lift the tabletrashbin with smooth grooves, then pour the balls.",
+    "Hold the tabletrashbin with smooth grooves, dump balls in big bin",
+    "Take the small rectangular bin for waste and pour contents.",
+    "Raise the small rectangular tabletrashbin to dump its contents out.",
+    "Lift the light gray bucket-shaped waste bin using the arm to pour balls.",
+    "Take hold of the small rectangular tabletrashbin, pour contents.",
+    "Pick up the bucket-shaped gray trashbin and pour into bin.",
+    "Control the arm to raise the tabletrashbin with smooth grooves and pour.",
+    "Grab the small light gray waste bin and empty it into the bin.",
+    "Pick the open-top tabletrashbin up, pour all balls inside bin",
+    "Take the rectangular tabletop waste container using arm, pour contents inside",
+    "Grab the small rectangular bin for waste, pour its contents away.",
+    "Secure the bucket-shaped gray trashbin and pour the balls.",
+    "Use the light gray trashbin with open top to pour the balls out.",
+    "Lift up the small rectangular tabletrashbin, then pour balls.",
+    "Grab the small light gray waste bin and transfer balls.",
+    "Take the tabletrashbin for holding waste and pour the balls out.",
+    "Grab the small rectangular bin for waste and pour it out.",
+    "Use arm to grab the light gray trashbin with open top, dump contents",
+    "Lift the open-top tabletrashbin, pour the balls into big bin",
+    "Pick up the small light gray waste bin and pour carefully.",
+    "Take the rectangular tabletop waste container and pour the balls.",
+    "Hold the small rectangular bin for waste and pour all balls into bin",
+    "Grasp the light gray trashbin with open top and empty it out.",
+    "Lift the light gray trashbin with open top, pour contents into big bin",
+    "Grab the small rectangular bin for waste with arm and pour contents",
+    "Take the tabletrashbin with smooth grooves and empty its contents.",
+    "Use the arm to move the tabletrashbin with smooth grooves and pour.",
+    "Pick the light gray tabletrashbin, pour its contents out.",
+    "Lift the gray plastic trashbin and pour contents down.",
+    "Grab the small rectangular tabletrashbin and transfer balls to the bin.",
+    "Move the arm, take the gray plastic trashbin, and pour.",
+    "Lift the light gray bucket-shaped waste bin, pour into the big bin.",
+    "Hold the gray plastic trashbin and dump its balls.",
+    "Grab the small light gray waste bin, then pour balls into the bin.",
+    "Use the arm to lift the small rectangular tabletrashbin and empty it.",
+    "Direct the arm to grab the tabletrashbin for holding waste and tilt.",
+    "Pick up the light gray trashbin with open top using the arm, pour balls.",
+    "Grab and tilt the small rectangular tabletrashbin to empty the balls.",
+    "Hold the light gray bucket-shaped waste bin and pour the balls.",
+    "Take hold of the small light gray waste bin and dump the balls.",
+    "Take the light gray bucket-shaped waste bin and empty balls into the bin.",
+    "Pour balls from the tabletrashbin with smooth grooves into the bin.",
+    "Use the arm to empty the tabletrashbin with smooth grooves into the bin.",
+    "Pick up the gray plastic trashbin, empty into the big bin",
+    "Lift the open-top tabletrashbin and pour its contents into bin.",
+    "Lift the gray plastic trashbin and pour balls into the bin.",
+    "Hold the tabletrashbin with smooth grooves, then pour contents.",
+    "Use the arm to grab the gray plastic trashbin and pour.",
+    "Use arm to pick the light gray trashbin with open top, pour in bin",
+    "Lift the light gray tabletrashbin, then pour the balls.",
+    "Hold the open-top tabletrashbin, dump balls in big bin",
+    "Take the light gray bucket-shaped waste bin and pour contents.",
+    "Raise the small rectangular tabletrashbin to dump its contents out.",
+    "Lift the tabletrashbin for holding waste using the arm to pour balls.",
+    "Take hold of the small rectangular bin for waste, pour contents.",
+    "Pick up the light gray trashbin with open top and pour into bin.",
+    "Control the arm to raise the light gray bucket-shaped waste bin and pour.",
+    "Grab the light gray trashbin with open top and empty it into the bin.",
+    "Pick the tabletrashbin with smooth grooves up, pour all balls inside bin",
+    "Take the light gray trashbin with open top using arm, pour contents inside",
+    "Grab the open-top tabletrashbin, pour its contents away.",
+    "Secure the light gray bucket-shaped waste bin and pour the balls.",
+    "Use the light gray tabletrashbin to pour the balls out.",
+    "Lift up the small rectangular bin for waste, then pour balls.",
+    "Grab the light gray tabletrashbin and transfer balls.",
+    "Take the tabletrashbin for holding waste and pour the balls out.",
+    "Grab the rectangular tabletop waste container and pour it out.",
+    "Use arm to grab the light gray trashbin with open top, dump contents",
+    "Lift the light gray bucket-shaped waste bin, pour the balls into big bin",
+    "Pick up the rectangular tabletop waste container and pour carefully.",
+    "Take the rectangular tabletop waste container and pour the balls.",
+    "Hold the small rectangular bin for waste and pour all balls into bin",
+    "Grasp the open-top tabletrashbin and empty it out.",
+    "Lift the light gray bucket-shaped waste bin, pour contents into big bin",
+    "Grab the tabletrashbin for holding waste with arm and pour contents",
+    "Take the bucket-shaped gray trashbin and empty its contents.",
+    "Use the arm to move the tabletrashbin with smooth grooves and pour.",
+    "Pick the rectangular tabletop waste container, pour its contents out.",
+    "Lift the light gray tabletrashbin and pour contents down.",
+    "Grab the rectangular tabletop waste container and transfer balls to the bin.",
+    "Move the arm, take the small rectangular bin for waste, and pour.",
+    "Lift the small light gray waste bin, pour into the big bin.",
+    "Hold the light gray bucket-shaped waste bin and dump its balls.",
+    "Grab the small rectangular tabletrashbin, then pour balls into the bin.",
+    "Use the arm to lift the light gray bucket-shaped waste bin and empty it.",
+    "Direct the arm to grab the tabletrashbin for holding waste and tilt.",
+    "Pick up the bucket-shaped gray trashbin using the arm, pour balls.",
+    "Grab and tilt the light gray tabletrashbin to empty the balls.",
+    "Hold the light gray tabletrashbin and pour the balls.",
+    "Take hold of the small rectangular tabletrashbin and dump the balls.",
+    "Take the small light gray waste bin and empty balls into the bin.",
+    "Pour balls from the open-top tabletrashbin into the bin."
+  ],
+  "unseen": [
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode387.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Control the arm to raise the black-specked gray tabletrashbin and pour.",
+    "Lift the black-specked gray tabletrashbin and pour its contents into bin.",
+    "Lift the dark gray cylindrical tabletrashbin and pour contents down.",
+    "Take the tabletrashbin with black specks and empty balls into the bin.",
+    "Grab the small cylindrical speckled tabletrashbin and transfer balls to the bin.",
+    "Lift up the tabletrashbin with slightly flared top, then pour balls.",
+    "Pick up the plastic tabletrashbin with dark pattern, empty into the big bin",
+    "Take the gray tabletrashbin and empty its contents.",
+    "Pick up the small cylindrical speckled tabletrashbin and pour into bin.",
+    "Raise the tabletrashbin for tabletop trash to dump its contents out.",
+    "Pick up the small tabletrashbin and pour carefully.",
+    "Take the plastic tabletrashbin with dark pattern and pour contents.",
+    "Secure the black-specked gray tabletrashbin and pour the balls.",
+    "Lift the gray tabletrashbin, pour contents into big bin",
+    "Grab the gray tabletrashbin and empty it into the bin.",
+    "Grab the tabletrashbin with slightly flared top with arm and pour contents",
+    "Lift the tabletrashbin with slightly flared top, pour into the big bin.",
+    "Hold the tabletrashbin for tabletop trash and pour the balls.",
+    "Use arm to grab the gray tabletrashbin, dump contents",
+    "Use the tabletrashbin with black specks to pour the balls out.",
+    "Hold the gray tabletrashbin, then pour contents.",
+    "Pour balls from the smooth plastic tabletrashbin into the bin.",
+    "Take the tabletrashbin for tabletop trash using arm, pour contents inside",
+    "Grab the plastic tabletrashbin with dark pattern, then pour balls into the bin.",
+    "Grab the small cylindrical speckled tabletrashbin and transfer balls.",
+    "Hold the small tabletrashbin and dump its balls.",
+    "Use the arm to move the compact speckled surface tabletrashbin and pour.",
+    "Use the arm to empty the dark gray cylindrical tabletrashbin into the bin.",
+    "Take the compact speckled surface tabletrashbin and pour the balls out.",
+    "Use the arm to grab the tabletrashbin for tabletop trash and pour.",
+    "Pick up the tabletrashbin with slightly flared top using the arm, pour balls.",
+    "Lift the gray tabletrashbin, then pour the balls.",
+    "Pick the dark gray cylindrical tabletrashbin, pour its contents out.",
+    "Take hold of the smooth plastic tabletrashbin, pour contents.",
+    "Pick the compact speckled surface tabletrashbin up, pour all balls inside bin",
+    "Lift the small tabletrashbin and pour balls into the bin.",
+    "Grab and tilt the tabletrashbin for tabletop trash to empty the balls.",
+    "Grab the tabletrashbin with black specks, pour its contents away.",
+    "Hold the tabletrashbin with tapered sides and pour all balls into bin",
+    "Grasp the tabletrashbin with slightly flared top and empty it out.",
+    "Take hold of the tabletrashbin for tabletop trash and dump the balls.",
+    "Lift the smooth plastic tabletrashbin, pour the balls into big bin",
+    "Hold the gray tabletrashbin, dump balls in big bin",
+    "Use the arm to lift the tabletrashbin with black specks and empty it.",
+    "Use arm to pick the black-specked gray tabletrashbin, pour in bin",
+    "Lift the smooth plastic tabletrashbin using the arm to pour balls.",
+    "Take the tabletrashbin with black specks and pour the balls.",
+    "Grab the black-specked gray tabletrashbin and pour it out.",
+    "Direct the arm to grab the small tabletrashbin and tilt.",
+    "Move the arm, take the plastic tabletrashbin with dark pattern, and pour.",
+    "Control the arm to raise the compact speckled surface tabletrashbin and pour.",
+    "Lift the dark gray cylindrical tabletrashbin and pour its contents into bin.",
+    "Lift the smooth plastic tabletrashbin and pour contents down.",
+    "Take the small cylindrical speckled tabletrashbin and empty balls into the bin.",
+    "Grab the smooth plastic tabletrashbin and transfer balls to the bin.",
+    "Lift up the black-specked gray tabletrashbin, then pour balls.",
+    "Pick up the tabletrashbin with slightly flared top, empty into the big bin",
+    "Take the tabletrashbin with tapered sides and empty its contents.",
+    "Pick up the gray tabletrashbin and pour into bin.",
+    "Raise the tabletrashbin with slightly flared top to dump its contents out.",
+    "Pick up the tabletrashbin for tabletop trash and pour carefully.",
+    "Take the tabletrashbin with black specks and pour contents.",
+    "Secure the compact speckled surface tabletrashbin and pour the balls.",
+    "Lift the dark gray cylindrical tabletrashbin, pour contents into big bin",
+    "Grab the tabletrashbin with slightly flared top and empty it into the bin.",
+    "Grab the dark gray cylindrical tabletrashbin with arm and pour contents",
+    "Lift the black-specked gray tabletrashbin, pour into the big bin.",
+    "Hold the tabletrashbin for tabletop trash and pour the balls.",
+    "Use arm to grab the gray tabletrashbin, dump contents",
+    "Use the tabletrashbin with tapered sides to pour the balls out.",
+    "Hold the plastic tabletrashbin with dark pattern, then pour contents.",
+    "Pour balls from the smooth plastic tabletrashbin into the bin.",
+    "Take the smooth plastic tabletrashbin using arm, pour contents inside",
+    "Grab the tabletrashbin with slightly flared top, then pour balls into the bin.",
+    "Grab the tabletrashbin for tabletop trash and transfer balls.",
+    "Hold the small cylindrical speckled tabletrashbin and dump its balls.",
+    "Use the arm to move the tabletrashbin with slightly flared top and pour.",
+    "Use the arm to empty the black-specked gray tabletrashbin into the bin.",
+    "Take the tabletrashbin with tapered sides and pour the balls out.",
+    "Use the arm to grab the small cylindrical speckled tabletrashbin and pour.",
+    "Pick up the small cylindrical speckled tabletrashbin using the arm, pour balls.",
+    "Lift the tabletrashbin with slightly flared top, then pour the balls.",
+    "Pick the small cylindrical speckled tabletrashbin, pour its contents out.",
+    "Take hold of the tabletrashbin with tapered sides, pour contents.",
+    "Pick the plastic tabletrashbin with dark pattern up, pour all balls inside bin",
+    "Lift the small tabletrashbin and pour balls into the bin.",
+    "Grab and tilt the gray tabletrashbin to empty the balls.",
+    "Grab the compact speckled surface tabletrashbin, pour its contents away.",
+    "Hold the smooth plastic tabletrashbin and pour all balls into bin",
+    "Grasp the tabletrashbin with black specks and empty it out.",
+    "Take hold of the dark gray cylindrical tabletrashbin and dump the balls.",
+    "Lift the tabletrashbin with tapered sides, pour the balls into big bin",
+    "Hold the black-specked gray tabletrashbin, dump balls in big bin",
+    "Use the arm to lift the compact speckled surface tabletrashbin and empty it.",
+    "Use arm to pick the gray tabletrashbin, pour in bin",
+    "Lift the black-specked gray tabletrashbin using the arm to pour balls.",
+    "Take the small tabletrashbin and pour the balls.",
+    "Grab the plastic tabletrashbin with dark pattern and pour it out.",
+    "Direct the arm to grab the tabletrashbin with slightly flared top and tilt.",
+    "Move the arm, take the tabletrashbin with tapered sides, and pour."
+  ],
+  "unseen": [
+    "Grab the little tabletrashbin with smooth texture and pour the balls.",
+    "Pick up the tabletrashbin for holding small trash, pour balls into the bin.",
+    "Lift the tabletrashbin for holding small trash and empty it.",
+    "Take the portable gray speckled tabletrashbin and empty it.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Grab the little tabletrashbin with smooth texture and pour into big bin",
+    "Pick up the little tabletrashbin with smooth texture and pour it.",
+    "Grab the little tabletrashbin with smooth texture and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Pour the portable gray speckled tabletrashbin into the big bin.",
+    "Grab the tabletrashbin for holding small trash and pour the balls.",
+    "Pick up the little tabletrashbin with smooth texture, pour balls into the bin.",
+    "Lift the portable gray speckled tabletrashbin and empty it.",
+    "Take the little tabletrashbin with smooth texture and empty it.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Grab the tabletrashbin for holding small trash and pour into big bin",
+    "Pick up the portable gray speckled tabletrashbin and pour it.",
+    "Grab the tabletrashbin for holding small trash and pour balls.",
+    "Take the portable gray speckled tabletrashbin and empty into big bin",
+    "Pour the little tabletrashbin with smooth texture into the big bin.",
+    "Grab the portable gray speckled tabletrashbin and pour the balls.",
+    "Pick up the tabletrashbin for holding small trash, pour balls into the bin.",
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Pick up the portable gray speckled tabletrashbin and pour it.",
+    "Grab the little tabletrashbin with smooth texture and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Grab the tabletrashbin for holding small trash and pour the balls.",
+    "Pick up the little tabletrashbin with smooth texture, pour balls into the bin.",
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Lift the tabletrashbin for holding small trash and transfer the contents.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Pick up the little tabletrashbin with smooth texture and pour it.",
+    "Grab the little tabletrashbin with smooth texture and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Grab the tabletrashbin for holding small trash and pour the balls.",
+    "Pick up the portable gray speckled tabletrashbin, pour balls into the bin.",
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Pick up the little tabletrashbin with smooth texture and pour it.",
+    "Grab the tabletrashbin for holding small trash and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Pour the portable gray speckled tabletrashbin into the big bin.",
+    "Grab the portable gray speckled tabletrashbin and pour the balls.",
+    "Pick up the little tabletrashbin with smooth texture, pour balls into the bin.",
+    "Lift the portable gray speckled tabletrashbin and empty it.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Pick up the little tabletrashbin with smooth texture and pour it.",
+    "Grab the tabletrashbin for holding small trash and pour balls.",
+    "Take the little tabletrashbin with smooth texture and empty into big bin",
+    "Pour the little tabletrashbin with smooth texture into the big bin.",
+    "Grab the little tabletrashbin with smooth texture and pour the balls.",
+    "Pick up the portable gray speckled tabletrashbin, pour balls into the bin.",
+    "Lift the portable gray speckled tabletrashbin and empty it.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Lift the tabletrashbin for holding small trash and transfer the contents.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Pick up the little tabletrashbin with smooth texture and pour it.",
+    "Grab the portable gray speckled tabletrashbin and pour balls.",
+    "Take the portable gray speckled tabletrashbin and empty into big bin",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Grab the tabletrashbin for holding small trash and pour the balls.",
+    "Pick up the tabletrashbin for holding small trash, pour balls into the bin.",
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Take the portable gray speckled tabletrashbin and empty it.",
+    "Lift the tabletrashbin for holding small trash and transfer the contents.",
+    "Grab the little tabletrashbin with smooth texture and pour into big bin",
+    "Pick up the tabletrashbin for holding small trash and pour it.",
+    "Grab the tabletrashbin for holding small trash and pour balls.",
+    "Take the portable gray speckled tabletrashbin and empty into big bin",
+    "Pour the little tabletrashbin with smooth texture into the big bin.",
+    "Grab the little tabletrashbin with smooth texture and pour the balls.",
+    "Pick up the tabletrashbin for holding small trash, pour balls into the bin.",
+    "Lift the tabletrashbin for holding small trash and empty it.",
+    "Take the portable gray speckled tabletrashbin and empty it.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Pick up the little tabletrashbin with smooth texture and pour it.",
+    "Grab the portable gray speckled tabletrashbin and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Pour the portable gray speckled tabletrashbin into the big bin.",
+    "Grab the tabletrashbin for holding small trash and pour the balls.",
+    "Pick up the little tabletrashbin with smooth texture, pour balls into the bin.",
+    "Lift the tabletrashbin for holding small trash and empty it.",
+    "Take the portable gray speckled tabletrashbin and empty it.",
+    "Lift the little tabletrashbin with smooth texture and transfer the contents.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Pick up the portable gray speckled tabletrashbin and pour it.",
+    "Grab the portable gray speckled tabletrashbin and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Pour the tabletrashbin for holding small trash into the big bin."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode402.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the simple white plastic trashbin, then pour the balls.",
+    "Lift up the cylindrical small white trashbin, then pour balls.",
+    "Use the arm to grab the mini white trashbin for desk and pour.",
+    "Pour balls from the small white trashbin into the bin.",
+    "Direct the arm to grab the smooth plastic tabletrashbin and tilt.",
+    "Pick the tabletrashbin up, pour all balls inside bin",
+    "Take the small white trashbin and pour the balls out.",
+    "Hold the cylindrical small white trashbin and dump its balls.",
+    "Move the arm, take the white bin with flared top edge, and pour.",
+    "Pick up the mini white trashbin for desk using the arm, pour balls.",
+    "Take the mini white trashbin for desk and pour contents.",
+    "Grab the desk-sized white tabletrashbin and pour it out.",
+    "Lift the mini white trashbin for desk using the arm to pour balls.",
+    "Grab the small white trashbin and transfer balls.",
+    "Grasp the white cylindrical waste bin and empty it out.",
+    "Take the compact tabletop trashbin and empty balls into the bin.",
+    "Use arm to grab the white round tabletrashbin, dump contents",
+    "Grab the smooth plastic tabletrashbin and empty it into the bin.",
+    "Lift the smooth plastic tabletrashbin and pour its contents into bin.",
+    "Take the white cylindrical waste bin using arm, pour contents inside",
+    "Pick up the small white trashbin, empty into the big bin",
+    "Hold the mini white trashbin for desk, then pour contents.",
+    "Take the desk-sized white tabletrashbin and pour the balls.",
+    "Pick the desk-sized white tabletrashbin, pour its contents out.",
+    "Lift the tabletrashbin, pour into the big bin.",
+    "Take hold of the desk-sized white tabletrashbin and dump the balls.",
+    "Hold the compact tabletop trashbin, dump balls in big bin",
+    "Use the arm to move the smooth plastic tabletrashbin and pour.",
+    "Grab the white cylindrical waste bin and transfer balls to the bin.",
+    "Lift the mini white trashbin for desk, pour the balls into big bin",
+    "Take the white round tabletrashbin and empty its contents.",
+    "Grab and tilt the white bin with flared top edge to empty the balls.",
+    "Use arm to pick the white round tabletrashbin, pour in bin",
+    "Lift the cylindrical small white trashbin and pour contents down.",
+    "Control the arm to raise the white bin with flared top edge and pour.",
+    "Grab the mini white trashbin for desk, pour its contents away.",
+    "Grab the compact tabletop trashbin with arm and pour contents",
+    "Raise the cylindrical small white trashbin to dump its contents out.",
+    "Secure the desk-sized white tabletrashbin and pour the balls.",
+    "Use the arm to lift the mini white trashbin for desk and empty it.",
+    "Use the cylindrical tabletrashbin with flared rim to pour the balls out.",
+    "Pick up the white cylindrical waste bin and pour carefully.",
+    "Grab the cylindrical small white trashbin, then pour balls into the bin.",
+    "Take hold of the cylindrical small white trashbin, pour contents.",
+    "Lift the compact tabletop trashbin and pour balls into the bin.",
+    "Lift the white cylindrical waste bin, pour contents into big bin",
+    "Hold the tabletrashbin and pour the balls.",
+    "Use the arm to empty the smooth plastic tabletrashbin into the bin.",
+    "Hold the white cylindrical waste bin and pour all balls into bin",
+    "Pick up the white round tabletrashbin and pour into bin.",
+    "Lift the smooth plastic tabletrashbin, then pour the balls.",
+    "Lift up the cylindrical small white trashbin, then pour balls.",
+    "Use the arm to grab the white cylindrical waste bin and pour.",
+    "Pour balls from the compact tabletop trashbin into the bin.",
+    "Direct the arm to grab the cylindrical tabletrashbin with flared rim and tilt.",
+    "Pick the tabletrashbin up, pour all balls inside bin",
+    "Take the desk-sized white tabletrashbin and pour the balls out.",
+    "Hold the smooth plastic tabletrashbin and dump its balls.",
+    "Move the arm, take the small white trashbin, and pour.",
+    "Pick up the cylindrical tabletrashbin with flared rim using the arm, pour balls.",
+    "Take the mini white trashbin for desk and pour contents.",
+    "Grab the cylindrical tabletrashbin with flared rim and pour it out.",
+    "Lift the desk-sized white tabletrashbin using the arm to pour balls.",
+    "Grab the simple white plastic trashbin and transfer balls.",
+    "Grasp the cylindrical small white trashbin and empty it out.",
+    "Take the cylindrical small white trashbin and empty balls into the bin.",
+    "Use arm to grab the desk-sized white tabletrashbin, dump contents",
+    "Grab the white bin with flared top edge and empty it into the bin.",
+    "Lift the white bin with flared top edge and pour its contents into bin.",
+    "Take the white bin with flared top edge using arm, pour contents inside",
+    "Pick up the white bin with flared top edge, empty into the big bin",
+    "Hold the cylindrical small white trashbin, then pour contents.",
+    "Take the white round tabletrashbin and pour the balls.",
+    "Pick the desk-sized white tabletrashbin, pour its contents out.",
+    "Lift the small white trashbin, pour into the big bin.",
+    "Take hold of the cylindrical small white trashbin and dump the balls.",
+    "Hold the small white trashbin, dump balls in big bin",
+    "Use the arm to move the white bin with flared top edge and pour.",
+    "Grab the white cylindrical waste bin and transfer balls to the bin.",
+    "Lift the white bin with flared top edge, pour the balls into big bin",
+    "Take the small white trashbin and empty its contents.",
+    "Grab and tilt the compact tabletop trashbin to empty the balls.",
+    "Use arm to pick the white round tabletrashbin, pour in bin",
+    "Lift the mini white trashbin for desk and pour contents down.",
+    "Control the arm to raise the white cylindrical waste bin and pour.",
+    "Grab the compact tabletop trashbin, pour its contents away.",
+    "Grab the smooth plastic tabletrashbin with arm and pour contents",
+    "Raise the white cylindrical waste bin to dump its contents out.",
+    "Secure the desk-sized white tabletrashbin and pour the balls.",
+    "Use the arm to lift the small white trashbin and empty it.",
+    "Use the cylindrical tabletrashbin with flared rim to pour the balls out.",
+    "Pick up the desk-sized white tabletrashbin and pour carefully.",
+    "Grab the compact tabletop trashbin, then pour balls into the bin.",
+    "Take hold of the mini white trashbin for desk, pour contents.",
+    "Lift the small white trashbin and pour balls into the bin.",
+    "Lift the white cylindrical waste bin, pour contents into big bin",
+    "Hold the tabletrashbin and pour the balls.",
+    "Use the arm to empty the tabletrashbin into the bin.",
+    "Hold the small white trashbin and pour all balls into bin",
+    "Pick up the white cylindrical waste bin and pour into bin."
+  ],
+  "unseen": [
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Grab the small bin for table waste and pour into big bin",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Lift the small bin for table waste and empty it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Grab the small bin for table waste and pour the balls.",
+    "Take the small bin for table waste and empty it.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Grab the small bin for table waste and pour balls.",
+    "Pick up the plastic tiny trashbin for tables, pour balls into the bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Take the small bin for table waste and empty into big bin",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Pick up the small bin for table waste and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Take the small bin for table waste and empty into big bin",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Grab the small bin for table waste and pour the balls.",
+    "Take the small bin for table waste and empty it.",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Pick up the plastic tiny trashbin for tables, pour balls into the bin.",
+    "Pick up the small bin for table waste and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Lift the small bin for table waste and empty it.",
+    "Take the small bin for table waste and empty into big bin",
+    "Grab the small bin for table waste and pour into big bin",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Grab the small bin for table waste and pour balls.",
+    "Pick up the plastic tiny trashbin for tables, pour balls into the bin.",
+    "Pick up the small bin for table waste and pour it.",
+    "Pour the lightweight round tabletop trashbin into the big bin.",
+    "Lift the small bin for table waste and empty it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Grab the small bin for table waste and pour into big bin",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Grab the small bin for table waste and pour balls.",
+    "Pick up the plastic tiny trashbin for tables, pour balls into the bin.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Grab the small bin for table waste and pour into big bin",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Grab the small bin for table waste and pour into big bin",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Grab the small bin for table waste and pour balls.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Pour the plastic tiny trashbin for tables into the big bin."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode416.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the tabletrashbin with grooves on sides and pour all balls into bin",
+    "Pour balls from the tabletrashbin made of plastic into the bin.",
+    "Grasp the light gray tabletrashbin and empty it out.",
+    "Take the light gray trash bin and pour the balls out.",
+    "Take hold of the tabletrashbin with yellow symbol, pour contents.",
+    "Pick the tabletrashbin made of plastic, pour its contents out.",
+    "Pick up the light gray tabletrashbin and pour carefully.",
+    "Pick up the smooth tabletrashbin for small waste using the arm, pour balls.",
+    "Lift up the light gray tabletrashbin, then pour balls.",
+    "Use the arm to lift the tabletrashbin with grooves on sides and empty it.",
+    "Raise the lightweight trash container to dump its contents out.",
+    "Use the arm to empty the light gray trash bin into the bin.",
+    "Lift the small trash container, pour into the big bin.",
+    "Lift the tabletrashbin with yellow symbol and pour contents down.",
+    "Move the arm, take the light gray tabletrashbin, and pour.",
+    "Grab the tabletrashbin with yellow symbol and transfer balls to the bin.",
+    "Pick up the smooth plastic tabletrashbin and pour into bin.",
+    "Use arm to pick the tabletrashbin with yellow symbol, pour in bin",
+    "Take the small trash container and pour contents.",
+    "Grab the tabletrashbin made of plastic with arm and pour contents",
+    "Grab and tilt the lightweight trash container to empty the balls.",
+    "Use the arm to grab the light gray tabletrashbin and pour.",
+    "Take the smooth plastic tabletrashbin and empty balls into the bin.",
+    "Secure the small trash container and pour the balls.",
+    "Grab the compact bin with rounded edges and transfer balls.",
+    "Grab the small trash container, then pour balls into the bin.",
+    "Pick the tabletrashbin made of plastic up, pour all balls inside bin",
+    "Direct the arm to grab the smooth tabletrashbin for small waste and tilt.",
+    "Use the small trash container to pour the balls out.",
+    "Grab the tabletrashbin made of plastic and pour it out.",
+    "Hold the smooth tabletrashbin for small waste, dump balls in big bin",
+    "Lift the tabletrashbin with grooves on sides and pour balls into the bin.",
+    "Take the smooth plastic tabletrashbin using arm, pour contents inside",
+    "Take hold of the small container with yellow logo and dump the balls.",
+    "Pick up the smooth plastic tabletrashbin, empty into the big bin",
+    "Lift the light gray tabletrashbin using the arm to pour balls.",
+    "Use arm to grab the smooth tabletrashbin for small waste, dump contents",
+    "Grab the smooth tabletrashbin for small waste, pour its contents away.",
+    "Hold the smooth plastic tabletrashbin and pour the balls.",
+    "Hold the smooth tabletrashbin for small waste, then pour contents.",
+    "Lift the tabletrashbin with grooves on sides, pour the balls into big bin",
+    "Control the arm to raise the smooth plastic tabletrashbin and pour.",
+    "Lift the lightweight trash container, then pour the balls.",
+    "Take the compact rectangular tabletrashbin and pour the balls.",
+    "Lift the tabletrashbin made of plastic, pour contents into big bin",
+    "Take the lightweight trash container and empty its contents.",
+    "Hold the tabletrashbin made of plastic and dump its balls.",
+    "Grab the tabletrashbin with yellow symbol and empty it into the bin.",
+    "Use the arm to move the tabletrashbin made of plastic and pour.",
+    "Lift the compact rectangular tabletrashbin and pour its contents into bin.",
+    "Hold the tabletrashbin made of plastic and pour all balls into bin",
+    "Pour balls from the small trash container into the bin.",
+    "Grasp the light gray trash bin and empty it out.",
+    "Take the tabletrashbin with yellow symbol and pour the balls out.",
+    "Take hold of the light gray trash bin, pour contents.",
+    "Pick the light gray trash bin, pour its contents out.",
+    "Pick up the smooth plastic tabletrashbin and pour carefully.",
+    "Pick up the smooth tabletrashbin for small waste using the arm, pour balls.",
+    "Lift up the lightweight trash container, then pour balls.",
+    "Use the arm to lift the tabletrashbin with grooves on sides and empty it.",
+    "Raise the small container with yellow logo to dump its contents out.",
+    "Use the arm to empty the lightweight trash container into the bin.",
+    "Lift the tabletrashbin made of plastic, pour into the big bin.",
+    "Lift the smooth plastic tabletrashbin and pour contents down.",
+    "Move the arm, take the tabletrashbin with grooves on sides, and pour.",
+    "Grab the tabletrashbin with grooves on sides and transfer balls to the bin.",
+    "Pick up the tabletrashbin made of plastic and pour into bin.",
+    "Use arm to pick the lightweight trash container, pour in bin",
+    "Take the light gray trash bin and pour contents.",
+    "Grab the compact rectangular tabletrashbin with arm and pour contents",
+    "Grab and tilt the compact bin with rounded edges to empty the balls.",
+    "Use the arm to grab the smooth tabletrashbin for small waste and pour.",
+    "Take the compact rectangular tabletrashbin and empty balls into the bin.",
+    "Secure the compact rectangular tabletrashbin and pour the balls.",
+    "Grab the tabletrashbin made of plastic and transfer balls.",
+    "Grab the small trash container, then pour balls into the bin.",
+    "Pick the small trash container up, pour all balls inside bin",
+    "Direct the arm to grab the smooth plastic tabletrashbin and tilt.",
+    "Use the smooth plastic tabletrashbin to pour the balls out.",
+    "Grab the light gray tabletrashbin and pour it out.",
+    "Hold the tabletrashbin with grooves on sides, dump balls in big bin",
+    "Lift the light gray tabletrashbin and pour balls into the bin.",
+    "Take the compact rectangular tabletrashbin using arm, pour contents inside",
+    "Take hold of the smooth plastic tabletrashbin and dump the balls.",
+    "Pick up the compact bin with rounded edges, empty into the big bin",
+    "Lift the tabletrashbin made of plastic using the arm to pour balls.",
+    "Use arm to grab the smooth tabletrashbin for small waste, dump contents",
+    "Grab the tabletrashbin with yellow symbol, pour its contents away.",
+    "Hold the compact rectangular tabletrashbin and pour the balls.",
+    "Hold the lightweight trash container, then pour contents.",
+    "Lift the light gray trash bin, pour the balls into big bin",
+    "Control the arm to raise the light gray trash bin and pour.",
+    "Lift the tabletrashbin with yellow symbol, then pour the balls.",
+    "Take the tabletrashbin with yellow symbol and pour the balls.",
+    "Lift the smooth plastic tabletrashbin, pour contents into big bin",
+    "Take the smooth plastic tabletrashbin and empty its contents.",
+    "Hold the tabletrashbin with yellow symbol and dump its balls.",
+    "Grab the light gray trash bin and empty it into the bin.",
+    "Use the arm to move the small container with yellow logo and pour.",
+    "Lift the compact bin with rounded edges and pour its contents into bin."
+  ],
+  "unseen": [
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Lift the rectangular light gray trash bin and empty it.",
+    "Grab the rectangular light gray trash bin and pour the balls.",
+    "Pick up the rectangular plastic bin, pour balls into the bin.",
+    "Take the rectangular light gray trash bin and empty into big bin",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Take the tabletrashbin for tabletop use and empty it.",
+    "Lift the rectangular light gray trash bin and transfer the contents.",
+    "Pour the rectangular plastic bin into the big bin.",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Lift the rectangular light gray trash bin and empty it.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Take the tabletrashbin for tabletop use and empty into big bin",
+    "Pick up the rectangular light gray trash bin and pour it.",
+    "Take the rectangular light gray trash bin and empty it.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Pour the rectangular plastic bin into the big bin.",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Grab the rectangular light gray trash bin and pour into big bin",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Grab the rectangular light gray trash bin and pour the balls.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Take the rectangular light gray trash bin and empty it.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Lift the rectangular light gray trash bin and empty it.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Pick up the rectangular plastic bin, pour balls into the bin.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Pick up the rectangular light gray trash bin and pour it.",
+    "Take the rectangular light gray trash bin and empty it.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Grab the rectangular light gray trash bin and pour into big bin",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Grab the rectangular plastic bin and pour the balls.",
+    "Pick up the rectangular plastic bin, pour balls into the bin.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Take the rectangular plastic bin and empty it.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Grab the tabletrashbin for tabletop use and pour into big bin",
+    "Lift the rectangular plastic bin and empty it.",
+    "Grab the rectangular plastic bin and pour the balls.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Take the rectangular plastic bin and empty it.",
+    "Lift the rectangular light gray trash bin and transfer the contents.",
+    "Pour the rectangular plastic bin into the big bin.",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Grab the rectangular light gray trash bin and pour into big bin",
+    "Lift the rectangular light gray trash bin and empty it.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Pick up the rectangular plastic bin, pour balls into the bin.",
+    "Take the rectangular light gray trash bin and empty into big bin",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Take the rectangular light gray trash bin and empty it.",
+    "Lift the rectangular light gray trash bin and transfer the contents.",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Lift the rectangular plastic bin and empty it.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Take the tabletrashbin for tabletop use and empty into big bin",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Take the rectangular plastic bin and empty it.",
+    "Lift the rectangular light gray trash bin and transfer the contents.",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Pick up the rectangular plastic bin, pour balls into the bin.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Pick up the rectangular plastic bin and pour it.",
+    "Take the rectangular plastic bin and empty it.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Grab the rectangular plastic bin and pour the balls.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Take the rectangular light gray trash bin and empty into big bin",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Take the tabletrashbin for tabletop use and empty it.",
+    "Lift the tabletrashbin for tabletop use and transfer the contents.",
+    "Pour the tabletrashbin for tabletop use into the big bin."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode429.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic tabletrashbin with dark pattern using the arm to pour balls.",
+    "Pick up the tabletrashbin for tabletop trash and pour carefully.",
+    "Grab the tabletrashbin for tabletop trash with arm and pour contents",
+    "Hold the black-specked gray tabletrashbin, dump balls in big bin",
+    "Lift up the small cylindrical speckled tabletrashbin, then pour balls.",
+    "Take the small tabletrashbin and empty balls into the bin.",
+    "Lift the tabletrashbin with tapered sides, pour contents into big bin",
+    "Take the plastic tabletrashbin with dark pattern and pour the balls.",
+    "Grab the tabletrashbin with tapered sides and transfer balls.",
+    "Grab the dark gray cylindrical tabletrashbin, then pour balls into the bin.",
+    "Lift the tabletrashbin with slightly flared top, then pour the balls.",
+    "Lift the tabletrashbin with black specks and pour contents down.",
+    "Lift the smooth plastic tabletrashbin and pour its contents into bin.",
+    "Pick the small cylindrical speckled tabletrashbin up, pour all balls inside bin",
+    "Hold the tabletrashbin with black specks and pour the balls.",
+    "Take the small tabletrashbin using arm, pour contents inside",
+    "Take the black-specked gray tabletrashbin and pour the balls out.",
+    "Raise the plastic tabletrashbin with dark pattern to dump its contents out.",
+    "Pick up the small cylindrical speckled tabletrashbin and pour into bin.",
+    "Move the arm, take the black-specked gray tabletrashbin, and pour.",
+    "Pick up the smooth plastic tabletrashbin using the arm, pour balls.",
+    "Lift the tabletrashbin with black specks, pour into the big bin.",
+    "Secure the small tabletrashbin and pour the balls.",
+    "Grab and tilt the tabletrashbin with tapered sides to empty the balls.",
+    "Direct the arm to grab the small tabletrashbin and tilt.",
+    "Use the arm to empty the compact speckled surface tabletrashbin into the bin.",
+    "Take the plastic tabletrashbin with dark pattern and pour contents.",
+    "Use the arm to move the tabletrashbin with slightly flared top and pour.",
+    "Use the arm to grab the tabletrashbin for tabletop trash and pour.",
+    "Pour balls from the plastic tabletrashbin with dark pattern into the bin.",
+    "Use the arm to lift the tabletrashbin with slightly flared top and empty it.",
+    "Lift the small cylindrical speckled tabletrashbin, pour the balls into big bin",
+    "Pick the small tabletrashbin, pour its contents out.",
+    "Hold the compact speckled surface tabletrashbin, then pour contents.",
+    "Grab the tabletrashbin with slightly flared top and pour it out.",
+    "Grab the plastic tabletrashbin with dark pattern and transfer balls to the bin.",
+    "Use arm to pick the smooth plastic tabletrashbin, pour in bin",
+    "Grasp the small cylindrical speckled tabletrashbin and empty it out.",
+    "Grab the tabletrashbin with tapered sides and empty it into the bin.",
+    "Take hold of the small tabletrashbin and dump the balls.",
+    "Pick up the small tabletrashbin, empty into the big bin",
+    "Take hold of the tabletrashbin with tapered sides, pour contents.",
+    "Hold the small tabletrashbin and dump its balls.",
+    "Hold the tabletrashbin with slightly flared top and pour all balls into bin",
+    "Grab the smooth plastic tabletrashbin, pour its contents away.",
+    "Use the gray tabletrashbin to pour the balls out.",
+    "Control the arm to raise the compact speckled surface tabletrashbin and pour.",
+    "Use arm to grab the plastic tabletrashbin with dark pattern, dump contents",
+    "Lift the black-specked gray tabletrashbin and pour balls into the bin.",
+    "Take the small cylindrical speckled tabletrashbin and empty its contents.",
+    "Lift the black-specked gray tabletrashbin using the arm to pour balls.",
+    "Pick up the tabletrashbin with tapered sides and pour carefully.",
+    "Grab the small cylindrical speckled tabletrashbin with arm and pour contents",
+    "Hold the gray tabletrashbin, dump balls in big bin",
+    "Lift up the tabletrashbin for tabletop trash, then pour balls.",
+    "Take the tabletrashbin with tapered sides and empty balls into the bin.",
+    "Lift the tabletrashbin with tapered sides, pour contents into big bin",
+    "Take the small cylindrical speckled tabletrashbin and pour the balls.",
+    "Grab the tabletrashbin with tapered sides and transfer balls.",
+    "Grab the black-specked gray tabletrashbin, then pour balls into the bin.",
+    "Lift the dark gray cylindrical tabletrashbin, then pour the balls.",
+    "Lift the gray tabletrashbin and pour contents down.",
+    "Lift the tabletrashbin with slightly flared top and pour its contents into bin.",
+    "Pick the tabletrashbin for tabletop trash up, pour all balls inside bin",
+    "Hold the plastic tabletrashbin with dark pattern and pour the balls.",
+    "Take the tabletrashbin with black specks using arm, pour contents inside",
+    "Take the tabletrashbin for tabletop trash and pour the balls out.",
+    "Raise the tabletrashbin with black specks to dump its contents out.",
+    "Pick up the tabletrashbin with slightly flared top and pour into bin.",
+    "Move the arm, take the small tabletrashbin, and pour.",
+    "Pick up the tabletrashbin for tabletop trash using the arm, pour balls.",
+    "Lift the tabletrashbin for tabletop trash, pour into the big bin.",
+    "Secure the tabletrashbin for tabletop trash and pour the balls.",
+    "Grab and tilt the smooth plastic tabletrashbin to empty the balls.",
+    "Direct the arm to grab the plastic tabletrashbin with dark pattern and tilt.",
+    "Use the arm to empty the tabletrashbin for tabletop trash into the bin.",
+    "Take the dark gray cylindrical tabletrashbin and pour contents.",
+    "Use the arm to move the tabletrashbin with slightly flared top and pour.",
+    "Use the arm to grab the smooth plastic tabletrashbin and pour.",
+    "Pour balls from the black-specked gray tabletrashbin into the bin.",
+    "Use the arm to lift the plastic tabletrashbin with dark pattern and empty it.",
+    "Lift the small cylindrical speckled tabletrashbin, pour the balls into big bin",
+    "Pick the small cylindrical speckled tabletrashbin, pour its contents out.",
+    "Hold the black-specked gray tabletrashbin, then pour contents.",
+    "Grab the tabletrashbin with slightly flared top and pour it out.",
+    "Grab the small tabletrashbin and transfer balls to the bin.",
+    "Use arm to pick the tabletrashbin with tapered sides, pour in bin",
+    "Grasp the small tabletrashbin and empty it out.",
+    "Grab the dark gray cylindrical tabletrashbin and empty it into the bin.",
+    "Take hold of the smooth plastic tabletrashbin and dump the balls.",
+    "Pick up the smooth plastic tabletrashbin, empty into the big bin",
+    "Take hold of the tabletrashbin with black specks, pour contents.",
+    "Hold the tabletrashbin with black specks and dump its balls.",
+    "Hold the black-specked gray tabletrashbin and pour all balls into bin",
+    "Grab the tabletrashbin with slightly flared top, pour its contents away.",
+    "Use the tabletrashbin with slightly flared top to pour the balls out.",
+    "Control the arm to raise the gray tabletrashbin and pour.",
+    "Use arm to grab the tabletrashbin with black specks, dump contents",
+    "Lift the tabletrashbin with black specks and pour balls into the bin.",
+    "Take the small cylindrical speckled tabletrashbin and empty its contents."
+  ],
+  "unseen": [
+    "Take the portable gray speckled tabletrashbin and empty it.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Grab the tabletrashbin for holding small trash and pour into big bin",
+    "Grab the portable gray speckled tabletrashbin and pour the balls.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Pick up the tabletrashbin for holding small trash, pour balls into the bin.",
+    "Pick up the portable gray speckled tabletrashbin and pour it.",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Grab the tabletrashbin for holding small trash and pour balls.",
+    "Take the little tabletrashbin with smooth texture and empty it.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Lift the tabletrashbin for holding small trash and empty it.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Grab the little tabletrashbin with smooth texture and pour the balls.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Pick up the portable gray speckled tabletrashbin, pour balls into the bin.",
+    "Pick up the tabletrashbin for holding small trash and pour it.",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Grab the portable gray speckled tabletrashbin and pour balls.",
+    "Take the little tabletrashbin with smooth texture and empty it.",
+    "Take the little tabletrashbin with smooth texture and empty into big bin",
+    "Lift the portable gray speckled tabletrashbin and empty it.",
+    "Grab the tabletrashbin for holding small trash and pour into big bin",
+    "Grab the tabletrashbin for holding small trash and pour the balls.",
+    "Lift the little tabletrashbin with smooth texture and transfer the contents.",
+    "Pick up the portable gray speckled tabletrashbin, pour balls into the bin.",
+    "Pick up the tabletrashbin for holding small trash and pour it.",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Grab the portable gray speckled tabletrashbin and pour balls.",
+    "Take the little tabletrashbin with smooth texture and empty it.",
+    "Take the little tabletrashbin with smooth texture and empty into big bin",
+    "Lift the portable gray speckled tabletrashbin and empty it.",
+    "Grab the tabletrashbin for holding small trash and pour into big bin",
+    "Grab the tabletrashbin for holding small trash and pour the balls.",
+    "Lift the little tabletrashbin with smooth texture and transfer the contents.",
+    "Pick up the little tabletrashbin with smooth texture, pour balls into the bin.",
+    "Pick up the portable gray speckled tabletrashbin and pour it.",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Grab the tabletrashbin for holding small trash and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Take the portable gray speckled tabletrashbin and empty into big bin",
+    "Lift the portable gray speckled tabletrashbin and empty it.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Grab the little tabletrashbin with smooth texture and pour the balls.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Pick up the little tabletrashbin with smooth texture, pour balls into the bin.",
+    "Pick up the little tabletrashbin with smooth texture and pour it.",
+    "Pour the little tabletrashbin with smooth texture into the big bin.",
+    "Grab the little tabletrashbin with smooth texture and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Take the little tabletrashbin with smooth texture and empty into big bin",
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Grab the little tabletrashbin with smooth texture and pour into big bin",
+    "Grab the tabletrashbin for holding small trash and pour the balls.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Pick up the tabletrashbin for holding small trash, pour balls into the bin.",
+    "Pick up the little tabletrashbin with smooth texture and pour it.",
+    "Pour the little tabletrashbin with smooth texture into the big bin.",
+    "Grab the little tabletrashbin with smooth texture and pour balls.",
+    "Take the portable gray speckled tabletrashbin and empty it.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Lift the little tabletrashbin with smooth texture and empty it.",
+    "Grab the little tabletrashbin with smooth texture and pour into big bin",
+    "Grab the tabletrashbin for holding small trash and pour the balls.",
+    "Lift the portable gray speckled tabletrashbin and transfer the contents.",
+    "Pick up the portable gray speckled tabletrashbin, pour balls into the bin.",
+    "Pick up the little tabletrashbin with smooth texture and pour it.",
+    "Pour the portable gray speckled tabletrashbin into the big bin.",
+    "Grab the tabletrashbin for holding small trash and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Take the portable gray speckled tabletrashbin and empty into big bin",
+    "Lift the tabletrashbin for holding small trash and empty it.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Grab the portable gray speckled tabletrashbin and pour the balls.",
+    "Lift the tabletrashbin for holding small trash and transfer the contents.",
+    "Pick up the tabletrashbin for holding small trash, pour balls into the bin.",
+    "Pick up the tabletrashbin for holding small trash and pour it.",
+    "Pour the little tabletrashbin with smooth texture into the big bin.",
+    "Grab the portable gray speckled tabletrashbin and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Lift the portable gray speckled tabletrashbin and empty it.",
+    "Grab the tabletrashbin for holding small trash and pour into big bin",
+    "Grab the little tabletrashbin with smooth texture and pour the balls.",
+    "Lift the tabletrashbin for holding small trash and transfer the contents.",
+    "Pick up the portable gray speckled tabletrashbin, pour balls into the bin.",
+    "Pick up the tabletrashbin for holding small trash and pour it.",
+    "Pour the tabletrashbin for holding small trash into the big bin.",
+    "Grab the little tabletrashbin with smooth texture and pour balls.",
+    "Take the tabletrashbin for holding small trash and empty it.",
+    "Take the tabletrashbin for holding small trash and empty into big bin",
+    "Lift the portable gray speckled tabletrashbin and empty it.",
+    "Grab the portable gray speckled tabletrashbin and pour into big bin",
+    "Grab the portable gray speckled tabletrashbin and pour the balls.",
+    "Lift the tabletrashbin for holding small trash and transfer the contents.",
+    "Pick up the tabletrashbin for holding small trash, pour balls into the bin.",
+    "Pick up the tabletrashbin for holding small trash and pour it.",
+    "Pour the portable gray speckled tabletrashbin into the big bin.",
+    "Grab the tabletrashbin for holding small trash and pour balls."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode436.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the mini white trashbin for desk, pour its contents out.",
+    "Pick the cylindrical tabletrashbin with flared rim up, pour all balls inside bin",
+    "Raise the small white trashbin to dump its contents out.",
+    "Hold the compact tabletop trashbin and pour all balls into bin",
+    "Use the arm to move the white bin with flared top edge and pour.",
+    "Grab the white round tabletrashbin, then pour balls into the bin.",
+    "Pour balls from the small white trashbin into the bin.",
+    "Grasp the white cylindrical waste bin and empty it out.",
+    "Lift the compact tabletop trashbin and pour its contents into bin.",
+    "Lift the white cylindrical waste bin and pour balls into the bin.",
+    "Take the mini white trashbin for desk and empty balls into the bin.",
+    "Grab the desk-sized white tabletrashbin with arm and pour contents",
+    "Move the arm, take the cylindrical tabletrashbin with flared rim, and pour.",
+    "Grab and tilt the tabletrashbin to empty the balls.",
+    "Lift the white round tabletrashbin and pour contents down.",
+    "Use arm to grab the white round tabletrashbin, dump contents",
+    "Lift up the mini white trashbin for desk, then pour balls.",
+    "Lift the tabletrashbin, pour the balls into big bin",
+    "Lift the desk-sized white tabletrashbin, then pour the balls.",
+    "Use arm to pick the small white trashbin, pour in bin",
+    "Hold the small white trashbin and dump its balls.",
+    "Use the arm to empty the cylindrical small white trashbin into the bin.",
+    "Grab the cylindrical tabletrashbin with flared rim and empty it into the bin.",
+    "Grab the white round tabletrashbin and pour it out.",
+    "Direct the arm to grab the compact tabletop trashbin and tilt.",
+    "Pick up the simple white plastic trashbin and pour into bin.",
+    "Take hold of the compact tabletop trashbin and dump the balls.",
+    "Hold the cylindrical tabletrashbin with flared rim, dump balls in big bin",
+    "Pick up the white bin with flared top edge and pour carefully.",
+    "Use the cylindrical small white trashbin to pour the balls out.",
+    "Grab the small white trashbin and transfer balls to the bin.",
+    "Lift the tabletrashbin, pour contents into big bin",
+    "Lift the tabletrashbin, pour into the big bin.",
+    "Secure the simple white plastic trashbin and pour the balls.",
+    "Grab the compact tabletop trashbin, pour its contents away.",
+    "Take hold of the cylindrical tabletrashbin with flared rim, pour contents.",
+    "Grab the small white trashbin and transfer balls.",
+    "Take the tabletrashbin and empty its contents.",
+    "Control the arm to raise the desk-sized white tabletrashbin and pour.",
+    "Take the smooth plastic tabletrashbin and pour the balls.",
+    "Hold the smooth plastic tabletrashbin and pour the balls.",
+    "Take the simple white plastic trashbin and pour contents.",
+    "Take the white bin with flared top edge using arm, pour contents inside",
+    "Use the arm to grab the cylindrical tabletrashbin with flared rim and pour.",
+    "Pick up the desk-sized white tabletrashbin using the arm, pour balls.",
+    "Use the arm to lift the white bin with flared top edge and empty it.",
+    "Hold the small white trashbin, then pour contents.",
+    "Take the white round tabletrashbin and pour the balls out.",
+    "Lift the simple white plastic trashbin using the arm to pour balls.",
+    "Pick up the tabletrashbin, empty into the big bin",
+    "Pick the cylindrical small white trashbin, pour its contents out.",
+    "Pick the cylindrical small white trashbin up, pour all balls inside bin",
+    "Raise the simple white plastic trashbin to dump its contents out.",
+    "Hold the cylindrical small white trashbin and pour all balls into bin",
+    "Use the arm to move the desk-sized white tabletrashbin and pour.",
+    "Grab the desk-sized white tabletrashbin, then pour balls into the bin.",
+    "Pour balls from the small white trashbin into the bin.",
+    "Grasp the white cylindrical waste bin and empty it out.",
+    "Lift the smooth plastic tabletrashbin and pour its contents into bin.",
+    "Lift the desk-sized white tabletrashbin and pour balls into the bin.",
+    "Take the white bin with flared top edge and empty balls into the bin.",
+    "Grab the white round tabletrashbin with arm and pour contents",
+    "Move the arm, take the tabletrashbin, and pour.",
+    "Grab and tilt the white bin with flared top edge to empty the balls.",
+    "Lift the small white trashbin and pour contents down.",
+    "Use arm to grab the desk-sized white tabletrashbin, dump contents",
+    "Lift up the smooth plastic tabletrashbin, then pour balls.",
+    "Lift the simple white plastic trashbin, pour the balls into big bin",
+    "Lift the cylindrical tabletrashbin with flared rim, then pour the balls.",
+    "Use arm to pick the white round tabletrashbin, pour in bin",
+    "Hold the white cylindrical waste bin and dump its balls.",
+    "Use the arm to empty the small white trashbin into the bin.",
+    "Grab the mini white trashbin for desk and empty it into the bin.",
+    "Grab the desk-sized white tabletrashbin and pour it out.",
+    "Direct the arm to grab the mini white trashbin for desk and tilt.",
+    "Pick up the smooth plastic tabletrashbin and pour into bin.",
+    "Take hold of the smooth plastic tabletrashbin and dump the balls.",
+    "Hold the mini white trashbin for desk, dump balls in big bin",
+    "Pick up the white cylindrical waste bin and pour carefully.",
+    "Use the white round tabletrashbin to pour the balls out.",
+    "Grab the white round tabletrashbin and transfer balls to the bin.",
+    "Lift the white round tabletrashbin, pour contents into big bin",
+    "Lift the small white trashbin, pour into the big bin.",
+    "Secure the tabletrashbin and pour the balls.",
+    "Grab the smooth plastic tabletrashbin, pour its contents away.",
+    "Take hold of the tabletrashbin, pour contents.",
+    "Grab the tabletrashbin and transfer balls.",
+    "Take the mini white trashbin for desk and empty its contents.",
+    "Control the arm to raise the white cylindrical waste bin and pour.",
+    "Take the mini white trashbin for desk and pour the balls.",
+    "Hold the mini white trashbin for desk and pour the balls.",
+    "Take the white bin with flared top edge and pour contents.",
+    "Take the white cylindrical waste bin using arm, pour contents inside",
+    "Use the arm to grab the mini white trashbin for desk and pour.",
+    "Pick up the cylindrical tabletrashbin with flared rim using the arm, pour balls.",
+    "Use the arm to lift the white round tabletrashbin and empty it.",
+    "Hold the simple white plastic trashbin, then pour contents.",
+    "Take the cylindrical small white trashbin and pour the balls out.",
+    "Lift the white bin with flared top edge using the arm to pour balls.",
+    "Pick up the white cylindrical waste bin, empty into the big bin"
+  ],
+  "unseen": [
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Lift the small bin for table waste and empty it.",
+    "Grab the small bin for table waste and pour balls.",
+    "Pick up the plastic tiny trashbin for tables, pour balls into the bin.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Grab the small bin for table waste and pour the balls.",
+    "Pour the small bin for table waste into the big bin.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Take the small bin for table waste and empty into big bin",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Lift the small bin for table waste and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Pour the small bin for table waste into the big bin.",
+    "Grab the small bin for table waste and pour into big bin",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Grab the small bin for table waste and pour balls.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Pick up the plastic tiny trashbin for tables and pour it.",
+    "Take the small bin for table waste and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Pour the small bin for table waste into the big bin.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Lift the lightweight round tabletop trashbin and transfer the contents.",
+    "Lift the lightweight round tabletop trashbin and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Pick up the small bin for table waste and pour it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Lift the small bin for table waste and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour balls.",
+    "Pick up the small bin for table waste, pour balls into the bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Take the small bin for table waste and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Pour the lightweight round tabletop trashbin into the big bin.",
+    "Grab the lightweight round tabletop trashbin and pour into big bin",
+    "Lift the plastic tiny trashbin for tables and transfer the contents.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Grab the small bin for table waste and pour balls.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Take the small bin for table waste and empty into big bin",
+    "Take the small bin for table waste and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Pour the plastic tiny trashbin for tables into the big bin.",
+    "Grab the plastic tiny trashbin for tables and pour into big bin",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Lift the plastic tiny trashbin for tables and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Pick up the plastic tiny trashbin for tables, pour balls into the bin.",
+    "Pick up the lightweight round tabletop trashbin and pour it.",
+    "Take the lightweight round tabletop trashbin and empty into big bin",
+    "Take the lightweight round tabletop trashbin and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour the balls.",
+    "Pour the lightweight round tabletop trashbin into the big bin.",
+    "Grab the small bin for table waste and pour into big bin",
+    "Lift the small bin for table waste and transfer the contents.",
+    "Lift the small bin for table waste and empty it.",
+    "Grab the plastic tiny trashbin for tables and pour balls.",
+    "Pick up the lightweight round tabletop trashbin, pour balls into the bin.",
+    "Pick up the small bin for table waste and pour it.",
+    "Take the plastic tiny trashbin for tables and empty into big bin",
+    "Take the plastic tiny trashbin for tables and empty it.",
+    "Grab the lightweight round tabletop trashbin and pour the balls.",
+    "Pour the lightweight round tabletop trashbin into the big bin."
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode458.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small rectangular tabletrashbin and pour contents down.",
+    "Raise the rectangular tabletop waste container to dump its contents out.",
+    "Grab the bucket-shaped gray trashbin and empty it into the bin.",
+    "Lift the small rectangular tabletrashbin using the arm to pour balls.",
+    "Grab and tilt the open-top tabletrashbin to empty the balls.",
+    "Pick up the small light gray waste bin, empty into the big bin",
+    "Lift the tabletrashbin with smooth grooves, pour contents into big bin",
+    "Pick the rectangular tabletop waste container, pour its contents out.",
+    "Lift the small light gray waste bin, pour into the big bin.",
+    "Hold the small rectangular tabletrashbin and dump its balls.",
+    "Take the bucket-shaped gray trashbin and pour contents.",
+    "Use the arm to grab the open-top tabletrashbin and pour.",
+    "Grab the bucket-shaped gray trashbin and transfer balls to the bin.",
+    "Grab the gray plastic trashbin, pour its contents away.",
+    "Hold the tabletrashbin with smooth grooves, dump balls in big bin",
+    "Take the rectangular tabletop waste container and empty balls into the bin.",
+    "Use the arm to move the light gray trashbin with open top and pour.",
+    "Lift the tabletrashbin for holding waste, then pour the balls.",
+    "Use the tabletrashbin with smooth grooves to pour the balls out.",
+    "Hold the bucket-shaped gray trashbin and pour all balls into bin",
+    "Move the arm, take the rectangular tabletop waste container, and pour.",
+    "Lift the small rectangular tabletrashbin and pour its contents into bin.",
+    "Use arm to pick the gray plastic trashbin, pour in bin",
+    "Use arm to grab the open-top tabletrashbin, dump contents",
+    "Hold the light gray bucket-shaped waste bin, then pour contents.",
+    "Pick up the tabletrashbin for holding waste and pour carefully.",
+    "Pick the tabletrashbin for holding waste up, pour all balls inside bin",
+    "Take the tabletrashbin for holding waste and pour the balls.",
+    "Pick up the light gray tabletrashbin using the arm, pour balls.",
+    "Grasp the gray plastic trashbin and empty it out.",
+    "Lift the light gray bucket-shaped waste bin, pour the balls into big bin",
+    "Grab the open-top tabletrashbin and transfer balls.",
+    "Secure the rectangular tabletop waste container and pour the balls.",
+    "Take hold of the gray plastic trashbin and dump the balls.",
+    "Take hold of the light gray bucket-shaped waste bin, pour contents.",
+    "Grab the bucket-shaped gray trashbin with arm and pour contents",
+    "Grab the light gray trashbin with open top, then pour balls into the bin.",
+    "Pour balls from the small light gray waste bin into the bin.",
+    "Lift up the small rectangular tabletrashbin, then pour balls.",
+    "Use the arm to lift the tabletrashbin for holding waste and empty it.",
+    "Pick up the light gray bucket-shaped waste bin and pour into bin.",
+    "Lift the gray plastic trashbin and pour balls into the bin.",
+    "Take the open-top tabletrashbin and pour the balls out.",
+    "Take the light gray bucket-shaped waste bin and empty its contents.",
+    "Control the arm to raise the light gray bucket-shaped waste bin and pour.",
+    "Take the gray plastic trashbin using arm, pour contents inside",
+    "Direct the arm to grab the open-top tabletrashbin and tilt.",
+    "Hold the open-top tabletrashbin and pour the balls.",
+    "Grab the light gray trashbin with open top and pour it out.",
+    "Use the arm to empty the rectangular tabletop waste container into the bin.",
+    "Lift the light gray bucket-shaped waste bin and pour contents down.",
+    "Raise the tabletrashbin with smooth grooves to dump its contents out.",
+    "Grab the tabletrashbin for holding waste and empty it into the bin.",
+    "Lift the open-top tabletrashbin using the arm to pour balls.",
+    "Grab and tilt the small rectangular tabletrashbin to empty the balls.",
+    "Pick up the gray plastic trashbin, empty into the big bin",
+    "Lift the light gray bucket-shaped waste bin, pour contents into big bin",
+    "Pick the rectangular tabletop waste container, pour its contents out.",
+    "Lift the small rectangular tabletrashbin, pour into the big bin.",
+    "Hold the small rectangular tabletrashbin and dump its balls.",
+    "Take the small light gray waste bin and pour contents.",
+    "Use the arm to grab the gray plastic trashbin and pour.",
+    "Grab the light gray tabletrashbin and transfer balls to the bin.",
+    "Grab the tabletrashbin with smooth grooves, pour its contents away.",
+    "Hold the gray plastic trashbin, dump balls in big bin",
+    "Take the tabletrashbin with smooth grooves and empty balls into the bin.",
+    "Use the arm to move the rectangular tabletop waste container and pour.",
+    "Lift the gray plastic trashbin, then pour the balls.",
+    "Use the small rectangular tabletrashbin to pour the balls out.",
+    "Hold the tabletrashbin with smooth grooves and pour all balls into bin",
+    "Move the arm, take the bucket-shaped gray trashbin, and pour.",
+    "Lift the light gray tabletrashbin and pour its contents into bin.",
+    "Use arm to pick the light gray trashbin with open top, pour in bin",
+    "Use arm to grab the small light gray waste bin, dump contents",
+    "Hold the light gray trashbin with open top, then pour contents.",
+    "Pick up the tabletrashbin with smooth grooves and pour carefully.",
+    "Pick the open-top tabletrashbin up, pour all balls inside bin",
+    "Take the light gray trashbin with open top and pour the balls.",
+    "Pick up the bucket-shaped gray trashbin using the arm, pour balls.",
+    "Grasp the light gray trashbin with open top and empty it out.",
+    "Lift the bucket-shaped gray trashbin, pour the balls into big bin",
+    "Grab the tabletrashbin for holding waste and transfer balls.",
+    "Secure the light gray bucket-shaped waste bin and pour the balls.",
+    "Take hold of the tabletrashbin with smooth grooves and dump the balls.",
+    "Take hold of the light gray bucket-shaped waste bin, pour contents.",
+    "Grab the tabletrashbin with smooth grooves with arm and pour contents",
+    "Grab the tabletrashbin for holding waste, then pour balls into the bin.",
+    "Pour balls from the small light gray waste bin into the bin.",
+    "Lift up the open-top tabletrashbin, then pour balls.",
+    "Use the arm to lift the small rectangular tabletrashbin and empty it.",
+    "Pick up the small rectangular bin for waste and pour into bin.",
+    "Lift the small light gray waste bin and pour balls into the bin.",
+    "Take the small light gray waste bin and pour the balls out.",
+    "Take the tabletrashbin for holding waste and empty its contents.",
+    "Control the arm to raise the open-top tabletrashbin and pour.",
+    "Take the rectangular tabletop waste container using arm, pour contents inside",
+    "Direct the arm to grab the light gray trashbin with open top and tilt.",
+    "Hold the light gray trashbin with open top and pour the balls.",
+    "Grab the small rectangular bin for waste and pour it out.",
+    "Use the arm to empty the light gray tabletrashbin into the bin."
+  ],
+  "unseen": [
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin"
+  ]
+}

dump_bin_bigbin/piper_randomized_500/instructions/episode474.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the light gray bucket-shaped waste bin and pour the balls.",
+    "Grab the light gray tabletrashbin and transfer balls.",
+    "Lift the bucket-shaped gray trashbin, then pour the balls.",
+    "Grab the small rectangular tabletrashbin, pour its contents away.",
+    "Lift the gray plastic trashbin using the arm to pour balls.",
+    "Pick up the bucket-shaped gray trashbin using the arm, pour balls.",
+    "Raise the small light gray waste bin to dump its contents out.",
+    "Pick up the small rectangular tabletrashbin, empty into the big bin",
+    "Grab the rectangular tabletop waste container with arm and pour contents",
+    "Take the tabletrashbin with smooth grooves and pour contents.",
+    "Direct the arm to grab the light gray tabletrashbin and tilt.",
+    "Lift the small rectangular bin for waste and pour its contents into bin.",
+    "Lift the small rectangular bin for waste and pour balls into the bin.",
+    "Take the small rectangular bin for waste and pour the balls out.",
+    "Control the arm to raise the light gray trashbin with open top and pour.",
+    "Grab the bucket-shaped gray trashbin, then pour balls into the bin.",
+    "Grab the bucket-shaped gray trashbin and pour it out.",
+    "Use arm to pick the small light gray waste bin, pour in bin",
+    "Hold the small rectangular tabletrashbin, then pour contents.",
+    "Use the arm to lift the tabletrashbin with smooth grooves and empty it.",
+    "Take hold of the small rectangular tabletrashbin, pour contents.",
+    "Use the arm to move the light gray tabletrashbin and pour.",
+    "Take the small light gray waste bin and empty balls into the bin.",
+    "Take the light gray trashbin with open top using arm, pour contents inside",
+    "Move the arm, take the small light gray waste bin, and pour.",
+    "Hold the light gray trashbin with open top and pour all balls into bin",
+    "Grasp the light gray trashbin with open top and empty it out.",
+    "Lift the bucket-shaped gray trashbin, pour into the big bin.",
+    "Lift the small rectangular bin for waste and pour contents down.",
+    "Pick up the gray plastic trashbin and pour carefully.",
+    "Take the bucket-shaped gray trashbin and pour the balls.",
+    "Use the bucket-shaped gray trashbin to pour the balls out.",
+    "Grab and tilt the rectangular tabletop waste container to empty the balls.",
+    "Use the arm to grab the open-top tabletrashbin and pour.",
+    "Pick the open-top tabletrashbin, pour its contents out.",
+    "Lift up the rectangular tabletop waste container, then pour balls.",
+    "Grab the light gray trashbin with open top and transfer balls to the bin.",
+    "Lift the small rectangular tabletrashbin, pour contents into big bin",
+    "Use arm to grab the small light gray waste bin, dump contents",
+    "Pick the small light gray waste bin up, pour all balls inside bin",
+    "Pick up the light gray trashbin with open top and pour into bin.",
+    "Hold the bucket-shaped gray trashbin and pour the balls.",
+    "Grab the bucket-shaped gray trashbin and empty it into the bin.",
+    "Hold the small rectangular bin for waste and dump its balls.",
+    "Pour balls from the open-top tabletrashbin into the bin.",
+    "Take hold of the light gray tabletrashbin and dump the balls.",
+    "Take the tabletrashbin with smooth grooves and empty its contents.",
+    "Hold the gray plastic trashbin, dump balls in big bin",
+    "Use the arm to empty the light gray bucket-shaped waste bin into the bin.",
+    "Lift the small rectangular bin for waste, pour the balls into big bin",
+    "Secure the small rectangular tabletrashbin and pour the balls.",
+    "Grab the light gray bucket-shaped waste bin and transfer balls.",
+    "Lift the open-top tabletrashbin, then pour the balls.",
+    "Grab the open-top tabletrashbin, pour its contents away.",
+    "Lift the small rectangular tabletrashbin using the arm to pour balls.",
+    "Pick up the rectangular tabletop waste container using the arm, pour balls.",
+    "Raise the tabletrashbin with smooth grooves to dump its contents out.",
+    "Pick up the open-top tabletrashbin, empty into the big bin",
+    "Grab the small rectangular bin for waste with arm and pour contents",
+    "Take the small rectangular bin for waste and pour contents.",
+    "Direct the arm to grab the small rectangular bin for waste and tilt.",
+    "Lift the open-top tabletrashbin and pour its contents into bin.",
+    "Lift the light gray trashbin with open top and pour balls into the bin.",
+    "Take the tabletrashbin with smooth grooves and pour the balls out.",
+    "Control the arm to raise the gray plastic trashbin and pour.",
+    "Grab the light gray tabletrashbin, then pour balls into the bin.",
+    "Grab the light gray trashbin with open top and pour it out.",
+    "Use arm to pick the rectangular tabletop waste container, pour in bin",
+    "Hold the light gray trashbin with open top, then pour contents.",
+    "Use the arm to lift the small light gray waste bin and empty it.",
+    "Take hold of the small rectangular bin for waste, pour contents.",
+    "Use the arm to move the tabletrashbin with smooth grooves and pour.",
+    "Take the small rectangular tabletrashbin and empty balls into the bin.",
+    "Take the small light gray waste bin using arm, pour contents inside",
+    "Move the arm, take the small light gray waste bin, and pour.",
+    "Hold the tabletrashbin for holding waste and pour all balls into bin",
+    "Grasp the gray plastic trashbin and empty it out.",
+    "Lift the tabletrashbin for holding waste, pour into the big bin.",
+    "Lift the tabletrashbin for holding waste and pour contents down.",
+    "Pick up the light gray bucket-shaped waste bin and pour carefully.",
+    "Take the small rectangular bin for waste and pour the balls.",
+    "Use the tabletrashbin with smooth grooves to pour the balls out.",
+    "Grab and tilt the open-top tabletrashbin to empty the balls.",
+    "Use the arm to grab the open-top tabletrashbin and pour.",
+    "Pick the small light gray waste bin, pour its contents out.",
+    "Lift up the gray plastic trashbin, then pour balls.",
+    "Grab the rectangular tabletop waste container and transfer balls to the bin.",
+    "Lift the small light gray waste bin, pour contents into big bin",
+    "Use arm to grab the light gray tabletrashbin, dump contents",
+    "Pick the gray plastic trashbin up, pour all balls inside bin",
+    "Pick up the light gray trashbin with open top and pour into bin.",
+    "Hold the open-top tabletrashbin and pour the balls.",
+    "Grab the bucket-shaped gray trashbin and empty it into the bin.",
+    "Hold the rectangular tabletop waste container and dump its balls.",
+    "Pour balls from the rectangular tabletop waste container into the bin.",
+    "Take hold of the small rectangular bin for waste and dump the balls.",
+    "Take the bucket-shaped gray trashbin and empty its contents.",
+    "Hold the small light gray waste bin, dump balls in big bin",
+    "Use the arm to empty the open-top tabletrashbin into the bin.",
+    "Lift the gray plastic trashbin, pour the balls into big bin"
+  ],
+  "unseen": [
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the compact tabletop trashbin and empty it.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Grab the compact tabletop trashbin and pour the balls."
+  ]
+}