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dump_bin_bigbin/piper_randomized_500/instructions/episode118.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode147.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode169.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode237.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode252.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode273.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode294.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode316.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode32.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode327.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode462.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode471.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode472.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode479.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode483.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode55.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode56.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode82.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode93.json

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

dump_bin_bigbin/piper_randomized_500/instructions/episode99.json

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